分布式扩展状态观察者设计用于严格反的非线性领导系统
Jixing Lv1, Changhong Wang1, Yonggui Kao2
1School of Astronautics, Harbin Institute of Technology, Harbin 150001, China.
ISA transactions
|May 21, 2025
概括
本研究引入了一种新方法来估计领导者系统的状态和不确定性,用于领导者跟随控制. 拟议的分布式观察员确保在保证的时间框架内准确地重建状态,即使通信有限.
科学领域:
- 控制理论 控制理论
- 非线性系统是非线性系统.
- 分布式估计 分布式估计
背景情况:
- 准确的领导状态和动态估计对于有效的领导跟随控制系统至关重要.
- 现有的方法经常与非线性系统,不确定的动态和定向通信约束作斗争.
- 需要有效的分布式估计方案来最大限度地降低通信负载至关重要.
研究的目的:
- 为非线性领导系统开发分布式状态和不确定性估计方案.
- 为应对霍尔德不断增长的非线性,匹配的不确定性和定向通信拓所带来的挑战.
- 为了使追随者能够在规定的时间内准确地估计领导者的状态和不确定性.
主要方法:
- 关于使用两个分布式扩展状态观察员 (DESO) 的新型规定的时间分布式估计方案的建议.
- 在用户定义的时间内开发一个规定的时间DESO (PTDESO) 准确的领导状态和不确定性重建.
- 构建一个高收益的DESO (HGDESO) 对于异交对接和有界的观测误差后规定的时间.
主要成果:
- 每个追随者都使用邻居和领导者的有限的单维输出估计来重建领导者的状态和不确定性.
- 该PTDESO保证状态和不确定性估计在规定的时间内,独立于初始条件.
- 在规定的时间之后,HGDESO确保了非对称的收,并保持了在起源的小邻里内观察误差.
结论:
- 拟议的分布式估计方案有效地解决了针对定向拓的非线性领导系统的状态和不确定性估计.
- 通过只要求单维输出估计,观察员可以显著降低通信负载.
- 通过多个操纵器和海洋表面车辆的实践实例来验证,证明了强大的性能.
相关概念视频
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01:23Root Loci for Positive-Feedback Systems
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01:21Linear Approximation in Time Domain
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