- 期刊
An Adaptive Sliding Mode Observer Design for Systems Subject to Mismatched Uncertainties
順滑模態觀測器於具非匹配型外擾系統之設計
摘要
系統具非匹配型外擾會降低狀態估測的準確性。對於不變零點坐落於複數平面右半面之系統，必須透過狀態轉換後設計穩定的觀測器，但也導致順滑動態受到非匹配型外擾的影響。因此，同時考量穩定性及準確性，其觀測增益值的選擇極為重要，本文利用線性矩陣不等式方法求得最佳解，並由模擬結果可知其性能仍保有良好之穩定性及準確性。
關鍵字
無資料並列摘要
This paper is concerned with the state estimation of systems subject to matched/mismatched system uncertainties and disturbances. An adaptive strategy is applied to the sliding mode observer so that the approaching condition can be achieved in a more effective and efficient manner. Nevertheless, due to the existence of mismatched uncertainties, the sliding motion is no longer invariant, and the state observation performance may deteriorate with an inappropriate selection of the observer gain. Furthermore, in the case that the invariant zeros do not lie in the left half-plane, the use of state transformations is need to stabilize the sliding mode observer, and then the (mis)matched perturbation terms will also affect the responses of the reduced-order dynamics. To guarantee stability of the observer error dynamics and achieve better estimation performance simultaneously, a trade-off between both aims is considered to determine the observer gain. The existence of the solution is characterized via linear matrix inequalities. Numerical studies are presented to demonstrate the feasibility and effectiveness of the proposed approach.