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针对一类非线性不确定时滞系统,分别考虑了观测器的设计和控制器的设计问题。首先,基于扩张状态方程,设计鲁棒观测器;其次,基于观测器估计的状态值,融合H_∞控制技术,设计了滑模控制器,并且将滑模控制器增益系数的计算问题转化为线性矩阵不等式的求解问题,而且所设计的滑模控制器不要求系统不确定项满足匹配条件,使得控制器具有广泛的使用范围;最后,给出数值算例,将设计的观测器和控制器应用算例中,仿真表明该方法的有效性。
For a class of nonlinear uncertain time-delay systems, the design of observer and the design of controller are considered respectively. Firstly, a robust observer is designed based on the extended state equation. Secondly, a sliding mode controller is designed based on the state value estimated by the observer and H_∞control technology. The problem of calculating the gain coefficient of the sliding mode controller is transformed into linear Matrix inequality problem, and the design of sliding mode controller does not require system uncertainties to meet the matching conditions, making the controller has a wide range of use; Finally, numerical examples are given, the design of the observer and controller applications In the example, the simulation shows the effectiveness of the method.