一阶不确定系统的固定时间收敛扰动观测器
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作者单位:

(哈尔滨工业大学航天工程系,哈尔滨150001)

作者简介:

杨峰(1987-), 男, 博士生, 从事飞行器制导与控制、观测器设计与复合控制的研究;韦常柱(1982-), 男, 副教授, 博士, 从事飞行器先进控制方法、先进制导算法设计、飞行器弹道设计与优化等研究.

通讯作者:

E-mail: weichangzhu@hit.edu.cn.

中图分类号:

TP273

基金项目:

国家自然科学基金项目(61403100);微小航天器技术国防重点实验室开放基金项目(HIT.KLOF.MST.201704);中央高校基本科研业务费专项资金项目(HIT.NSRIF.2015.037).


Fixed-time convergent disturbance observer for first-order uncertain system
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(Department of Astronautics Engineering,Harbin Institute of Technology,Harbin 150001,China)

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    摘要:

    针对一阶不确定系统中集总扰动的快速估计问题,基于误差放大策略和双极限齐次估计理论设计非递归形式的固定时间收敛扰动观测器,并提出利用幂次函数非线性特性削弱输入信号噪声影响的改进方案.误差放大策略是一种特殊的高增益方法,能够实现修正项中幂次函数支配范围的扩张,进一步提升观测器的收敛速度,并简化参数调试过程;合理选择误差放大系数并忽略修正项中的低阶幂次项,能够简化扰动观测器结构并增强对测量噪声的抑制能力.另外,以广义超螺旋算法为基础,构建固定时间收敛鲁棒扰动观测器.最后,在理论证明分析的基础上,针对是否存在测量噪声的两种情况,对所介绍的3种扰动观测器和一种扩张状态观测器进行对比仿真分析,并总结各类扰动观测器的特点和适用性.

    Abstract:

    In this paper, non-recursive fixed-time convergent disturbance observers are proposed to deal with the total disturbance fast observation problem for a first-order uncertain system. The primary disturbance observer is designed based on the observer error amplification strategy and bi-limit homogeneous approximation theory. Due to nonlinearity of power functions, a variant of the proposed disturbance observer is presented to obtain the noise tolerance ability. The observer error amplification strategy is actually a special high gain approach, based on which the domination scope of the power functions in the correction terms is extended. At the same time, the convergence rate of the observer is accelerated, and the parameters tuning process is simplified. By choosing a reasonable amplifier and removing the low-order power functions in the correction terms, the structure of the disturbance observer is simplified, and the noise tolerance ability is enhanced. In addition, a fixed-time convergent robust disturbance observer is designed based on generalized super-twisting algorithm as well. Except the detailed theoretical derivation, numerical simulations, with or without measurement noise, are carried out to verify the feasibilities of the proposed three types of the disturbance observers. And, an typical extended state observer is employed for comparison. Finelly, the characteristics and applicability of the disturbance observers are discussed.

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杨峰,韦常柱,吴荣,等.一阶不确定系统的固定时间收敛扰动观测器[J].控制与决策,2019,34(5):917-926

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  • 在线发布日期: 2019-04-17
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