Fal 函数的改进及三种新型非线性扩张状态观测器
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成都信息工程大学控制工程学院

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TP273

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四川省教育厅重点项目(15ZB0176,13ZA0083);成都信息工程大学科研基金项目(KYTZ201636)


Advanced Fal Function and Three Novel Nonlinear Extended State Observers
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College of Control Engineering, Chengdu University of Information and Technology

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    摘要:

    本文首先分析了现有fal函数和传统非线性扩张状态观测器中存在的六类问题.针对这些问题,首先提出一种固定时间收敛的fal函数,其收敛速快于传统fal函数,且收敛时间上界与初始误差无关.然后分别设计了基于新型fal 函数的非线性扩张状态观测器、指数收敛非线性扩张状态观测器和全新结构的固定时间收敛非线性扩张状态观测器.最后仿真验证了这3种新型的非线性扩张状态观测器的估计总误差相对于传统非线性扩张状态观测器分别减少了15.4\% ,16.9\% 和93.8\%;对应的被控状态总误差分别减少了13.6\%,30.4\%和78.3\%.

    Abstract:

    Six disadvantages of fal function and traditional nonlinear extended state observer are summarized firstly. To solve these problems, a new fal function with fixed time convergence is proposed. It has better convergence ability compared to traditional fal function and the upper bound of convergence time is independent of the initial error. Then the nonlinear extended state observer based on the new fal function, the exponential convergent extended state observer and the fixed time convergent extended state observer are designed. Finally, the simulation results show that the estimation errors of the three novel nonlinear extended state observers are respectively reduced by 15.4\%, 16.9\% and 93.8\% compared to the traditional nonlinear extended state observer and the steady-state errors of the controlled states are reduced by 13.6\%, 30.4\% and 78.3\% respectively.

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历史
  • 收稿日期:2019-11-26
  • 最后修改日期:2021-02-22
  • 录用日期:2020-03-06
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