引用本文:张强,吴庆宪,姜长生,许德智.一种新颖的鲁棒模糊滑模观测器设计及干扰重构方法[J].控制理论与应用,2013,30(2):186~193.[点击复制]
ZHANG Qiang,WU Qing-xian,JIANG Chang-sheng,XU De-zhi.A novel robust fuzzy sliding mode observer design and disturbance reconstruction[J].Control Theory and Technology,2013,30(2):186~193.[点击复制]
一种新颖的鲁棒模糊滑模观测器设计及干扰重构方法
A novel robust fuzzy sliding mode observer design and disturbance reconstruction
摘要点击 3218  全文点击 1359  投稿时间：2012-03-15  修订日期：2012-09-02
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DOI编号  10.7641/CTA.2013.20225
  2013,30(2):186-193
中文关键词  高增益估计器  鲁棒滑模观测器  线性矩阵不等式  T–S模糊模型
英文关键词  high gain approximator (HGA)  robust sliding mode observer (RSMO)  linear matrix inequalities (LMI)  Takagi-Sugeno (T-S) fuzzy model
基金项目  国家自然科学基金资助项目(90716028, 60974106); 国家自然青年科学基金资助项目(11102080); 中央高校基本科研业务费专项资金资助项目(NS2010077, NP2011049); 山东省自然青年科学基金资助项目(ZR2012FQ030).
作者单位E-mail
张强* 南京航空航天大学 自动化学院
济南大学 自动化与电气工程学院 		zhang_hongyu198023@163.com 
吴庆宪 南京航空航天大学 自动化学院  
姜长生 南京航空航天大学 自动化学院  
许德智 南京航空航天大学 自动化学院  
中文摘要
      针对一类由T-S模糊模型描述的不确定非线性系统, 提出一种新颖的鲁棒模糊滑模观测器设计和干扰重构方法. 首先, 给出一种T-S模糊模型的等价形式. 其次, 在考虑滑模匹配条件不满足、状态不可测的情况下, 利用高增益估计器构造辅助变量. 为避免其峰化问题, 提出基于高增益估计器的鲁棒滑模观测器. 然后, 基于所提出的等价形式, 给出一类不确定非线性系统的鲁棒模糊滑模观测器设计方法. 并证明其不但对系统的未知干扰具有鲁棒性, 而且能保证状态估计残差在有限的时间内收敛于任意小的邻域, 并可应用等价输出误差介入原理重构出系统的干扰. 最后, 将该方法应用于双关节机械臂的控制仿真实验. 结果表明所提方法的有效性.
英文摘要
      A novel robust fuzzy sliding mode observer design and a disturbance reconstruction method are proposed for a class of uncertain nonlinear systems described by Takagi-Sugeno (T–S) fuzzy model. Firstly, a description which is equivalent to the form of T–S fuzzy model is proposed. Secondly, auxiliary variables are constructed to satisfy the matching condition of sliding mode observer, and a high gain approximator is developed to approximate immeasurable states. To avoid the peak problem occurred to the high gain approximator, we propose a robust sliding mode observer for this high gain approximator. Then, under the equivalent form, a robust fuzzy sliding mode observer is developed for a class of uncertain nonlinear systems. We prove that the proposed observer is robust to unknown disturbances, and ensure state estimation residuals of convergence to an arbitrarily small neighborhood in a limited period of time. At the same time, system disturbance is reconstructed thought the involved principle of equivalent output error. This method has been applied to simulate a two-link robot control system; simulation results demonstrate the validity of the proposed method.