抗感測器失效與輸出干擾的強韌動態觀測器設計

Robust Dynamic Observer Design Against Sensor Malfunction And Output Disturbances

張昌訓(Chang-Shine Chang)

指導教授 ： 陳明新

國立臺灣大學/工學院/機械工程學研究所/碩士(2011年)

https://doi.org/10.6342/NTU.2011.01578

摘要

本論文針對受到輸出干擾或感測器失效的線性系統，提出一個線上的強韌動態觀測器設計，本論文所提出的強韌動態觀測器能同時有效的估測出系狀態與輸出干擾，本論文所提出的動態觀測器為新型的觀測器架構，運用此種動態觀測器架構，將動態觀測器的設計問題轉變為干擾抑制控制問題，可以應用 頻域成型方法來處理干擾抑制問題達成動態觀測器的設計，藉由此種頻域成型設計方法，不但保證了動態觀測器的穩定性同時也有較佳的性能，目前輸出干擾觀測器大部分都要求開路系統必須為穩定的系統，但本論文提出的動態觀測器並沒有這項限制。

關鍵字

強韌觀測器 ； 輸出干擾 ； 感測器失效 ； 強韌控制 ； 頻域朔型 ； 干擾估測器

並列摘要

This thesis proposes a robust dynamic observer for linear systems to output disturbances or sensor malfunctions. The propose robust dynamic observer can simultaneously estimate the system state and the output disturbances. The dynamic observer in this thesis has new observer structure, the robust dynamic observer design problem can be transformed into a disturbance rejection control problem. One can then apply the frequency shaping design in disturbance rejection to the robust observer design. The frequency shaping ensures both stability and performance of the robust dynamic observer. Previous output disturbance observer mostly requires that the open-loop system be stable, while the robust dynamic observer has no such constraint.

並列關鍵字

robust observer ； output disturbance ； sensor malfunction ； robust control ； frequency shaping ； disturbance observer

參考文獻

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