一类非线性系统连续非光滑自适应观测器设计

摘要

在已有文献的基础上增加非线性齐次误差项，给出一类具有单边或拟单边 Lipschitz 条件的非线性系统连续非光滑自适应观测器的设计方法，并进行仿真。所设计的观测器有线性部分和非线性齐次部分，其中，线性部分可以确保观测误差全局 Lyapunov 稳定，而非线性齐次部分可以加快状态误差和参数误差收敛速度，提高抗干扰性。仿真结果表明，所设计的观测器是有效的。%In this paper,continuous but nonsmooth adaptive observer design is studied for a class of one-sided Lipschitz and quasi-one-sided Lipschitz nonlinear systems.The observer has two part:Linear part and homogeneous nonlinear part.The linear part can guarantee that the obser-vation errors are globally Lyapunov stable.The homogeneous nonlinear part can speed up con-vergent rate of the state error and the parameter error.It can also improve robust against noi-ses.At last,numerical simulations show the validity of the proposed methods.