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Output feedback sampled-data control of nonlinear systems using high-gain observers.

机译：使用高增益观测器的非线性系统的输出反馈采样数据控制。

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摘要

This thesis presents a separation principle for sampled-data control of a class of nonlinear systems. The basic ingredients of this technique are: a continuous-time high-gain observer that robustly estimates the derivatives of the output, a global bounded state feedback control, and a discrete-time implementation of the high-gain observer. For sufficiently small sampling period and sufficiently high observer gain, the sampled-data controller recovers the performance of the continuous-time state feedback controller. The high-gain observer is discretized using different discretization methods to achieve the best discretization algorithm and parameters choice.; Analysis of the discretized high-gain observer as a numerical differentiator provides answers to a number of important questions such as: what is the best discretization method? what are the best choices for the observer parameters and how do they relate to the sampling period? and what is the effect of the order of the observer on the estimation of the output derivatives. This is done for noisy as well as noise-free measurements. We also show how other numerical differentiators are special cases of the high-gain observer discretized by the bilinear discretization method. The closed-loop analysis shows that the sampled-data output feedback controller recovers the performance of the continuous-time state feedback controller as the sampling frequency and the observer gain become sufficiently large. Performance recovery is shown in two steps. First we show boundedness of trajectories, which come arbitrarily close to the desired equilibrium point as time progress. Second, we show convergence to the equilibrium point.; Finally, we experimentally test the use of the discretized high-gain observer in controlling an electromechanical system of (the pendubot). We show how saturation is used to overcome peaking and the effect of increasing the observer gain on the steady-state error. The experimental results confirm our analysis and show that the discretized high-gain observer outperforms the Euler formula as a means for calculating velocities from optical encoder.
机译：本文提出了一类非线性系统采样数据控制的分离原理。该技术的基本要素是：连续时间的高增益观察器，可以稳健地估计输出的导数；全局有界状态反馈控制；以及高增益观察器的离散时间实现。对于足够小的采样周期和足够高的观察者增益，采样数据控制器将恢复连续时间状态反馈控制器的性能。高增益观测器使用不同的离散化方法进行离散化，以实现最佳的离散化算法和参数选择。对离散化高增益观测器作为数值微分器的分析为许多重要问题提供了答案，例如：最佳离散化方法是什么？观察者参数的最佳选择是什么？它们与采样周期有何关系？观察者的顺序对输出导数的估计有什么影响。这样做是为了进行噪声测量以及无噪声测量。我们还展示了其他数值微分器是如何通过双线性离散化方法离散化的高增益观测器的特殊情况。闭环分析表明，随着采样频率和观察者增益变得足够大，采样数据输出反馈控制器将恢复连续时间状态反馈控制器的性能。性能恢复分两步显示。首先，我们显示了轨迹的有界性，随着时间的推移，轨迹有界地接近所需的平衡点。其次，我们表明收敛到平衡点。最后，我们通过实验测试离散高增益观测器在控制Pendubot机电系统中的使用。我们展示了如何使用饱和度来克服峰化以及增加观察者增益对稳态误差的影响。实验结果证实了我们的分析结果，并表明离散化的高增益观测器优于Euler公式，可作为从光学编码器计算速度的一种手段。

著录项

  • 作者

    Dabroom, Ahmed Mohamed.;

  • 作者单位

    Michigan State University.;

  • 授予单位 Michigan State University.;
  • 学科 Engineering Electronics and Electrical.; Engineering System Science.
  • 学位 Ph.D.
  • 年度 2000
  • 页码 177 p.
  • 总页数 177
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 无线电电子学、电信技术;系统科学;
  • 关键词

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