一类非线性系统连续非光滑自适应观测器设计

Continuous but Nonsmooth Adaptive Observer Design for A Class of Nonlinear Systems

关键词:  非线性系统  连续非光滑  自适应观测器

Key words:  nonlinear system  continuous but nonsmooth  adaptive observer

摘要:

在已有文献的基础上增加非线性齐次误差项,给出一类具有单边或拟单边Lipschitz条件的非线性系统连续非光滑自适应观测器的设计方法,并进行仿真.所设计的观测器有线性部分和非线性齐次部分,其中,线性部分可以确保观测误差全局Lyapunov稳定,而非线性齐次部分可以加快状态误差和参数误差收敛速度,提高抗干扰性.仿真结果表明,所设计的观测器是有效的.

Abstract:

In this paper, continuous but nonsmooth adaptive observer design is studied for a class of one-sided Lipschitz and quasi-one-sided Lipschitz nonlinear systems.The observer has two part:Linear part and homogeneous nonlinear part.The linear part can guarantee that the observation errors are globally Lyapunov stable.The homogeneous nonlinear part can speed up convergent rate of the state error and the parameter error.It can also improve robust against noises.At last, numerical simulations show the validity of the proposed methods.