不确定非线性系统的L_∞ 观测器

For Lipschtiz nonlinear systems subjected to parameter uncertainty and unknown disturbances, an L_∞ observer design method is proposed. Under the assumption that the unknown disturbances are bounded, sufficient conditions for the design of L_∞ observer are derived based on Lyapunov stability theory. In addition, the conditions are expressed in terms of linear matrix inequalities (LMIs), which can be efficiently solved. The proposed L_∞ observer not only attenuates bounded disturbances but also provides an upper bound of estimation error norm online. Finally, one-link manipulator simulation example is presented to illustrate the effectiveness of the proposed method.