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对一类含有未知输入的仿射非线性系统,讨论了一种能同时估计系统状态和未知输入的未知输入观测器设计方法.首先利用李导数对仿射非线性系统进行线性化,将其转化为可控标准型.其次,针对变化后的等价系统,提出了一种高阶、高增益滑模观测器,由此不仅能得到系统状态的估计,同时还得到状态微分的估计.再次,基于状态及其微分的估计,对未知输入提出了一种重构方法.该方法能对强时变未知输入重构,而且重构中没有用到系统微分的信息.最后,通过对两个实际模型的仿真,表明了方法的可行性.
For a class of affine nonlinear systems with unknown inputs, an unknown input observer design method that can simultaneously estimate the system states and unknown inputs is discussed. First, the affine nonlinear system is linearized by the derivative of Lie and transformed As a controllable standard type.Secondly, a high-order and high-gain sliding mode observer is proposed for the changed equivalent system, which not only can obtain the estimation of the system state, but also obtain the state differential estimation.Furthermore, Based on the estimation of state and its differential, a reconstruction method is proposed for unknown input, which can reconstruct unknown input with strong time-varying and no information of system differential is used in reconstruction.Finally, The simulation of the model shows the feasibility of the method.