一类不确定非最小相位系统的多观测器输出反馈镇定
Multi-Observer Output Feedback Stabilization of a Class of Uncertain Nonminimum-Phase Systems
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中文总结 AI 辅助
针对存在参数不确定性和外部扰动的非线性非最小相位系统，本文提出一种集成三类观测器的滑模控制方法，仅用输出测量即可实现全局渐近稳定，放宽了现有文献的限制性假设，仿真验证了其有效性。
中文摘要 AI 辅助
本文解决了存在参数不确定性和外部扰动的非线性非最小相位（NMP）系统的输出反馈镇定这一具有挑战性的问题。所提出的框架集成了三种不同的观测器：用于重构内部（零）动态未测量状态的降阶观测器、用于估计输出导数的高增益观测器，以及用于估计参数不确定性和扰动聚合效应的观测器。利用这些估计值，合成了滑模控制律，仅使用输出测量即可确保整个系统的全局渐近稳定性。该控制设计仅需要部分模型知识，显著放宽了现有文献中常见的限制性假设。数值仿真说明了所提出的输出反馈策略的有效性，并证实了理论发展。
英文摘要
This paper addresses the challenging problem of output feedback stabilization for nonlinear nonminimum phase (NMP) systems in the presence of parametric uncertainties and external disturbances. The proposed framework integrates three distinct observers: a reduced-order observer for reconstructing the unmeasured states of the internal (zero) dynamics, a high-gain observer for estimating output derivatives, and an observer for estimating the aggregated effect of parametric uncertainties and disturbances. Leveraging these estimates, a sliding mode control law is synthesized to ensure global asymptotic stability of the entire system using only output measurements. The control design requires only partial model knowledge, significantly relaxing the restrictive assumptions common in existing literature. Numerical simulations illustrate the effectiveness of the proposed output-feedback strategy and corroborate the theoretical developments.
