一类非线性系统的鲁棒状态观测器

该文研究了一类具有结构和参数不确定性的非线性系统的状态观测器设计问题。在假定非线性系统的线性部分是可观测,不确定性满足Lipshchitz条件的情况下，利用变结构的控制的思想提出了一种非 线性滑模型状态观测器设计方案，并利用李亚普诺夫稳定性理论证明了该状态观测器可使状态估计误差按指数规律渐近收敛。所设计的观测器对结构和参数不确定性具有较强的鲁棒性。

A Study on Robust State Observers for a Class of Nonlinear Systems

The design problem of robust state observers for a class of uncertain nonlinear systems is studied in this paper. A kind of nonlinear sliding mode state observer is proposed on the basis of simple assumptions that there is observability for the linear part of the nonlinear system and uncertainty for Lipschitz condition.The exponential asymptotic convergence of the estimated state towards the true state is proved with Lyapunov stability theory. The proposed methods include a systematic procedure of state observers design, and the proposed observers have robustness against model uncertainties and external disturbances. A simulation of a disk drive system is given to show the effectiveness of the proposed observers.