A state observer for nonlinear systems and its application to ball and beam system

被引：37

作者：

Jo, NH ^{[1
]}

Seo, JH ^{[1
]}

机构：

[1] Seoul Natl Univ, Sch Elect Engn, Seoul 151742, South Korea

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2000年 / 45卷 / 05期

关键词：

approximate normal form; coordinate change; nonlinear system; state observer;

D O I：

10.1109/9.855562

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we present a state observer for single-input/single-output nonlinear systems which fail to have well defined relative degree. It is shown that there exists a local state observer for a nonlinear system if it has robust relative degree rr. The proposed observer utilizes the coordinate change which transforms a system into an approximate normal form. The proposed method is applied to a ball and beam system, and simulation results show that substantial improvement in the performance was achieved compared with other local observers.

引用

页码：968 / 973

页数：6

共 13 条

[1] FEEDBACK-CONTROL OF NONLINEAR-SYSTEMS BY EXTENDED LINEARIZATION [J].

BAUMANN, WT ;

RUGH, WJ .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1986, 31 (01) :40-46

[2] CANONICAL FORM OBSERVER DESIGN FOR NON-LINEAR TIME-VARIABLE SYSTEMS [J].

BESTLE, D ;

ZEITZ, M .

INTERNATIONAL JOURNAL OF CONTROL, 1983, 38 (02) :419-431

[3] A LUENBERGER-LIKE OBSERVER FOR NONLINEAR-SYSTEMS [J].

CICCARELLA, G ;

DALLAMORA, M ;

GERMANI, A .

INTERNATIONAL JOURNAL OF CONTROL, 1993, 57 (03) :537-556

[4] A SIMPLE OBSERVER FOR NONLINEAR-SYSTEMS APPLICATIONS TO BIOREACTORS [J].

GAUTHIER, JP ;

HAMMOURI, H ;

OTHMAN, S .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1992, 37 (06) :875-880

[5] New algebro-geometric conditions for the linearization by input-output injection [J].

Glumineau, A ;

Moog, CH ;

Plestan, F .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1996, 41 (04) :598-603

[6] NONLINEAR CONTROL VIA APPROXIMATE INPUT OUTPUT LINEARIZATION - THE BALL AND BEAM EXAMPLE [J].

HAUSER, J ;

SASTRY, S ;

KOKOTOVIC, P .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1992, 37 (03) :392-398

[7] NON-LINEAR OBSERVER DESIGN BY TRANSFORMATION INTO A GENERALIZED OBSERVER CANONICAL FORM [J].

KELLER, H .

INTERNATIONAL JOURNAL OF CONTROL, 1987, 46 (06) :1915-1930

[8] LINEARIZATION BY OUTPUT INJECTION AND NON-LINEAR OBSERVERS [J].

KRENER, AJ ;

ISIDORI, A .

SYSTEMS & CONTROL LETTERS, 1983, 3 (01) :47-52

[9] ADAPTIVE OBSERVERS FOR SINGLE OUTPUT NONLINEAR-SYSTEMS [J].

MARINO, R .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1990, 35 (09) :1054-1058

[10] ON SLIDING OBSERVERS FOR NONLINEAR-SYSTEMS [J].

SLOTINE, JJE ;

HEDRICK, JK ;

MISAWA, EA .

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1987, 109 (03) :245-252

← 1 2 →