AI 中文总结
本文提出一种针对状态仿射非线性系统的代数观测器，具有瞬态性能优越、结构简单、适用于非一致完全可观测系统及可扩展至时变参数和测量延迟等优点。
AI 中文摘要
我们提出了一种新的系统化方法，用于设计针对状态仿射非线性系统的代数交换引理观测器。该新观测器有四个主要特点：（i）与标准渐近收敛观测器相比，瞬态性能远为优越；（ii）结构简单——其构造仅依赖于基本的线性滤波和一次矩阵求逆；（iii）适用于非一致完全可观测系统，而经典方法对此类系统不适用；（iv）可直接扩展到未知时变参数和测量延迟的情形。本文利用的核心思想是将基于广义参数估计的观测器构造与一种简单的滤波技术相结合，以推导出代数观测器。结果表明，所提出的设计适用于满足一个弱一般性条件的一类状态仿射系统。此外，还证明了对于时不变系统，该条件总是全局满足的。
英文摘要
We present a new systematic method to design an algebraic swapping lemma observer for nonlinear systems which are affine in the state. Four are the main features of the new observer: (i) Far superior transient performance compared to standard asymptotically convergent observers; (ii) structural simplicity - its construction relies solely on basic linear filtering and a single matrix inversion; (iii) applicability to non-uniformly-completely-observable systems, for which classical methods are not applicable; (iv) straightforward extension to the cases of unknown time-varying parameters and measurement delay. The core idea exploited in the paper is to combine the construction of a generalized parameter estimation-based observer with a simple filtering technique to derive the algebraic observer. The resulting design is shown to apply to a class of state-affine systems satisfying a weak generic condition. Moreover, it is established that for time-invariant systems, this condition is always satisfied globally.
Comments14 pages, 13 figures, submitted to Automatica
