Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
iu khin thch nghi phn hi u ra theo nguyn l tch s
dng quan st trng thi thi gian hu hn cho h phi tuyn c
ng thi tham s bt nh v nhiu u vo
Adaptive output feedback control based separation principle using finite
time observing for nonlinear systems with both uncertain parameters and
input noises
Nguyn Vn Ch Nguyn Don Phc
i hc K Thut Cng Nghip Thi Nguyn i hc Bch khoa H Ni
ngchi@tnut.edu.vn phuocnd-ac@mail.hut.edu.vn

Tm tt
iu khin phn hi u ra thch nghi s dng quan st
trng thi l mt bi ton gp nhiu kh khn do tnh
khng tha mn nguyn l tch ca mi h phi tuyn.
Bi bo ny trnh by mt phng php iu khin bm
thch nghi phn hi u ra theo nguyn l tch s dng
quan st trng thi thi gian hu hn cho mt lp h phi
tuyn c ng thi tham s bt nh v nhiu u vo.
B iu khin ny c thit k da trn l thuyt n
nh ISS v k thut khng nhiu. Sai lch bm tn hiu
t v o hm ca chng ny sinh do nh hng ca
tham s bt nh, nhiu u vo v sai lch quan st s
c b iu khin phn hi trng thi vi c cu hiu
chnh thch nghi ko v mt min hp dn nh ty . Bi
bo cng chng minh c tnh tha mn nguyn l tch
ca b iu khin phn hi trng thi thch nghi v b
quan st trng thi thi gian hu hn trong thit k b
iu khin phn hi u ra.
T kha: nguyn l tch, phn hi u ra thch nghi,
quan st trng thi thi gian hu hn, ISS
Abstract
Adaptive output feedback based on states observing is a
difficult problem on nonlinear control field. Because for
nonlinear systems, separation principle does not hold.
This paper presents an adaptive output feedback tracking
controller, which is designed based on separation
principle using finite time states observing for nonlinear
systems with both uncertain parameters and input noises.
By using ISS and disturbance attenuation techniques,
tracking errors and its first derivative caused by
uncertain parameters, input noises and observing errors
are always tend to an arbitrarily small neighborhood of
the origin without chattering. In this paper, adaptive
states feedback controller and finite time observer are
proofed that separation principle can be apply.
Keywords: separation principle, adaptive output
feedback, finite time obsever, ISS
Ch vit tt
PHTT phn hi trng thi
ISS n nh vo-trng thi (input to states
stability)
QSTT quan st trng thi
PHR phn hi u ra
SE nguyn l tch (separation principle)
FTO quan st trng thi thi gian hu hn
(finite time obsever)
K hiu
u F, F , G, A,C, A,C,
1

Cc ma trn ca m
hnh
1 2
, , , , , , ,
i i i
L L P L E K K P Cc ma trn thit k
0
, , , f g g q
Cc vc t hm phi
tuyn
1. t vn
iu khin PHTT cho h phi tuyn c pht trin
mnh m trong nhng nm gn y, c bit l cc
phng php iu khin n nh cho h phi tuyn c
tham s bt nh (phng php gi nh r, phng
php c lng tham s thch nghi), h phi tuyn
c nhiu (phng php n nh ISS, nn min hp
dn) [1]. s dng c cc b iu khin ny ta
lun cn n gi tr o ca cc bin trng thi trong
h, tuy nhin trong thc t c rt nhiu bin trng thi
khng th o c hoc c o c th gp phi mt
s kh khn v mt vt l nh kh gn thm cc thit
b o, hoc khi thm cc thit b o c th dn ti lm
thay i ng hc ca h v sai s ca thit b o do
s nh hng ca ngng nhy v.v. Chnh v vy cc
phng php iu khin phn hi trng thi b hn
ch khi p dng vo thc t. khc phc nhc
im ny ngi ta i n gii php l s dng mt b
QSTT c lng cc trng thi t cc tn hiu vo ra
o c ca ca h nhm thay th cho cc bin trng
thi thc c mt trong b iu khin PHTT. Khi ghp
chung b iu khin PHTT v b QSTT nh vy ta c
b iu khin PHR. Cch thit k ny c gi l thit
k iu khin PHR theo SE. i vi h tuyn tnh th
SE lun tha mn cho mi b iu khin PHTT n nh
ton cc v b QSTT tim cn ton cc, h kn lun n
nh. i vi h phi tuyn iu ny khng tha mn
cho mi h [2]. Teel v Praly [3] cng mi ch kt
lun rng nu h phi tuyn c b iu khin PHTT n
nh tim cn ton cc v c b QSTT tim cn, th h
kn thit k theo nguyn l tch s n nh bn ton
cc v l tnh n nh gn nh khng c ngha
ng dng. Trong trng hp h c tham s bt nh
hoc h c nhiu th thit k iu khin PHR cng gp
nhiu kh khn, hin nay ngi ta cng ch xt ring
cho h c tham s bt nh [1]. Khi h c tham s bt
nh v nhiu tc ng th trng thi quan st c s
khng cn ng na. Do vy sai lch quan st s nh
472
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011
VCCA-2011
hng ti u ra ca b iu khin PHTT, hay tn hiu
iu khin b sai lch. iu ny c th gy mt n
nh cho h kn, c bit ti thi im s kin u
khc 0 ca h, s mt n nh ny th hin qua hin
tng mt s bin trng thi tin ti v cng trong
khong thi gian hu hn, hin tng FET [4]. Trong
bi bo ny chng ti cp n bi ton iu khin
n nh theo sai lch bm tn hiu t cho mt lp h
phi tuyn truyn ngc ng thi c tham s bt nh
v nhiu u vo bng PHRthch nghi theo SE da
trn FTO. y l m hnh ca lp rng cc h c in
t m t bi h phng trnh EulerLagrange [5].
Trc ht chng ti pht trin mt b FTO cho h phi
tuyn ny vi gi thit khng c tham s bt nh. u
im ca b FTO mi ny l chng ta c th chn
trc thi gian hi t ca sai lch quan st. Sai lch
quan st s hi t v mt gi tr nh ty sau khong
thi gian hu hn chn trc. Tip theo chng ti a
ra mt thut ton iu khin PHTT thch nghi da trn
phng php gi nh r v n nh ISS (input to state
stability), vi mt c cu hiu chnh thch nghi s c
nhim v hiu chnh li sai lch bm gy ra do nh
hng ca sai lch quan st, tham s bt nh v
nhiu u vo tc ng ln h. Kt qu thu c h
kn iu khin thch nghi PHR theo SE da trn FTO s
lm cho u ra ca h bm theo tn hiu t vi sai
lch bm c ko v min hp dn ln cn gc vi
bn knh nh ty . Lp m hnh phi tuyn truyn
ngc c cp n trong bi bo ny c m hnh:

( ) ( ) ( ) ( ) ( )
1
2
1 2
1
, , , u q u

= +

dx
x
dt
dx
y u t t g y x
dt
y x
F (1)
Trong ( )
2
1 2 1 2
, ,
T
n n
x x R x x x R e = e l vc t
cc bin trng thi, e
n
u R l vc t u vo ca h,
( )
n
t R q e l vc t nhiu,
( )
,u

e
n n
y R F l ma trn
hm phi tuyn, u e
p
R l vc t tham s hng bt
nh, e
n
y R l vc t o c u ra ca h. H phi
tuyn (1) tha mn:
Tnh cht 1: Ma trn
( )
,u y F l i xng v xc
nh dng
Tnh cht 2: M hnh (1) c th biu din qua vc t
tham s hng bt nh u nh sau:

( ) ( )
2
1
0
, , ,
dx
y g y x f
dt
F F u u u + = +
vi

1 2
1
0 0
, ,
dx dx
f f x
dt dt
| |
=
|
\ .
v
1 2
1 1 1
, ,
| |
=
|
\ .
dx dx
x
dt dt
F F
ln lt l vc t hm phi tuyn v ma trn hm phi
tuyn hi quy ph thuc vo
1
1
,
dx
x
dt
v
2
dx
dt

Bi ton t ra y l thit k b iu khin PHR
thch nghi theo SE s dng FTO iu khin u ra
y ca h (1) bm theo tn hiu tha mn sai lch bm
nm trong min hp dn c bn knh nh ty .
2. Thit k QSTT thi gian hu hn
QSTT thi gian hu hn c cc tc gi Engel v
Kreisselmeirer thit k cho h tuyn tnh [6], sau
c Patrick H v cc cng s [7] m rng cho mt
lp h phi tuyn tha mn mt s iu kin cht ch
tn ti php bin i kh nghch cho php chuyn
h ban u v dng chun quan st m c thnh phn
phi tuyn nm phn ng hc h thng ch ph
thuc vo u vo v u ra ca h. Trong phn ny
chng ti da trn t tng ca Engel v
Kreisselmeirer cng vi nguyn l ca b QSTT
Lipchitz [8] thit k b FTO cho h (1). B quan st
ny sau mt khong thi gian hu hn ty chn s c
sai lch quan st khng tin v khng m s hi t v
mt gi tr nh ty m khng cn iu kin h
(1) chuyn c v dng chun quan st.
T m hnh (1) vi gi thit khng c nhiu u vo
ta c th vit li n nh sau:

( ) ( )
, , , u q u

= + +

dx
x y u y x
dt
y x
| A
C
(2)
vi

| |
2 2
2
,

O (
= = O
(
O O

n n
n n
n n
n n
n n
I
I A C

e
n n
n
I R l ma trn n v

O e
n n
n
R l ma trn khng v

( )
( )
2
1
,
,
u
u

O (
= (
(

n n
n
y
y
|
F


( )
( ) ( )
2 1
1
1
, ,
, , ,
q u
u u

O (
= (

(

n
n
y x
y g y x F

thit k ta s dng php bin i tng ng sau:
0 = x I (3)
vi
2 2
e
n n
R I l ma trn khng suy bin. Khi m
hnh (2) chuyn thnh:

( ) ( )
( )
( ) ( )
1 1 1
1
1 1 1
,
, ,
, , ,

0
0 u
q 0 u
0 u q 0 u
0 0

= + +

= + + +

d
L y u Ly
dt
y
y u Ly y
y
I I I | I
I I
I | I I I
I
A
A C
A
C C
(4)
Gi thit h (4) tha mn iu kin Lipschitz:

( ) ( )
1 1
1 2
2
1 2 1 2
, , , ,
, ,
q 0 u q 0 u
0 0 0 0 u

s e e
n p
y y
R R
I I I I
(5)
473
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011
VCCA-2011
T (4) ta lun tm c hai ma trn i=1,2
i
L ring
bit sao cho
( )
=
i i
L A A C l ma trn bn, hay sao
cho ma trn
i
A nhn vc t cc im cc
i
P lm gi
tr ring. Chn c>
2
v q>max(c,0) sau kim tra
iu kin:

( )
2 2
, , 1, 2 q o c + < + =
i
i A C C (6)
vi
( ) | | , min o
| |
| |
(
= |
|
(
|
|

\ .
\ .
eig
M
M N M N
N

Ta thy rng vi hng s Lipschitz s lun tm c
c v q tha mn (5). Khi cng lun tn ti nghim
duy nht , 1, 2 = i
T
i i
P = P ca phng trnh i s
Ricatti sau [9] :
( )
( )
2
2
0
2
0
c
q
+
+ + + + =
T
T
i i
I
C C
A A
C
i i i i
P P P P
(7)
Xc nh ma trn
1
' 0.5

=
T
i i
L P C . Sau ta c hai
ma trn khuch i ca hai khu quan st Lipschitz:

( )
2
2
' c = + +
i i i
L L L I I C (8)
Hai khu quan st Lipschitz cho h (2) l:
( ) ( ) ( ) ( )
, , , u q u = + + +
i
i i
dz
z y u y x t L y z
dt
|
i
A C (9)
Ghp chung hai khu quan st (9) theo Engel v
Kreisselmeirer [6] ta c b FTO cho h (2) l:

( ) ( ) ( )
( ) ( ) ( )
, , ,

FT
dz
z H y u H y x t Ly
dt
x t K z t e z t T
u q u

= + + +

(
=

u |
(10)
vi | |
1
, ,

(
= O

FT
n n
K I H e H ,
1 1
2 2
2
, , ,
n n
n
n
L I z
L H z
L I z
A
(
O ( ( (
= = = = (
( ( (
O (

u
A
1

v T>0 l khong thi gian mong mun ty .
nh l 1: Cho lp h phi tuyn khng thuc dng
chun c biu din bng h (2), gi thit vi php
bin i tng ng (3) th h tng ng (4) tha
mn iu kin Lipschitz (5) vi hng s Lipschitz .
Nu chn c>
2
v q>max(c,0) c c iu kin
(6) th s tn ti hai ma trn
i
L (8). Khi (10) l b
FTO cho h (2). Vi b quan st (10) th sau mt
khong thi gian hu hn T>0 ty chn trng thi
quan st s hi t v gn ng trng thi thc ca h
(1) vi sai lch quan st nh ty , thi gian T khng
ph thuc vo cc im cc ca hai khu quan st
Lipschitz (9). Khi chn cc im cc ca hai khu
quan st cng xa trc o th sai lch quan st sau
khong thi gian hu hn T s cng nh.
Chng minh:
T (2) v (10) cng vi php bin i tng ng
(3) ta c sai lch ng hc quan st nh sau:

( ) ( ) ( )
( ) ( ) ( )
( ) ( ) ( ) ( )
, , , ,
d z t Hx t
z t Hx t
dt
H y x t y x q u q u

=
+
u

vy ta c
( ) ( )
( )
( ) ( ) ( )
( )
( ) ( ) ( ) ( ) ( )
0
0
0 0
, , , ,
t t
t
t
t
z t Hx t e z t Hx t
e H y x y x d
t
q t u q t u t

=
+
}
u
u

hay
( ) ( )
( )
( ) ( ) ( )
( )
( ) ( ) ( ) ( ) ( )
0
0
0 0
, , , ,
t t
t
t
t
z t Hx t e z t Hx t
e H y x y x d
t
q t u q t u t

= +
+
}
u
u
(11)
v
( ) ( )
( )
( ) ( ) ( )
( )
( ) ( ) ( ) ( ) ( )
0
0
0 0
, , , ,
t T t
t T
t T
t
z t T Hx t T e z t Hx t
e H y x y x d
t
q t u q t u t

= +
+
}
u
u
(12)
Thay (11) v (12) vo phng trnh th hai ca b
quan st (10) ta c:
( ) ( )
( )
( ) ( ) ( )
( )
( ) ( ) ( ) ( ) ( )
( )
( )
( ) ( ) ( )
( )
( ) ( ) ( ) ( ) ( )
0
0
0
0
0 0
0 0

, , , ,

, , , ,
t t
t
t
t
t T t T T
t T
t T T
t
x t K Hx t e z t Hx t
e H y x y x d
e Hx t T e e z t Hx t
e e H y x y x d
t
t
q t u q t u t
q t u q t u t

= +

+
+
(
(
(

}
}
u
u
u u u
u u
(13)
Khi
0
> + t t T ta c
,
T
n n
KH I Ke H = = O
u

v
( ) ( )
0 0
t T t t t T
e e e

=
u u u

do vy trng thi quan st l:

( ) ( )
( )
( ) ( ) ( ) ( ) ( )
( )

, , , ,
t
t
t T
x t x t
e y x y x d
e t
s
t
q t u q t u t

= +
+
}
u (14)
Thnh phn ( )
s
e t l sai s quan st sau khong thi
gian
0
, > + t t T v ma trn u c cc im cc ca
, 1, 2 =
i
i A nm bn tri trc o cho nn ( )
s
e t l hu
hn, khi chn cc im cc ca
i
A nm cng xa v
pha bn tri trc o th ( )
s
e t cng nh. Do vy, b
FTO cho h (2), vi mc tiu sau mt khong thi gian
hu hn T chn trc, trng thi quan st s hi t
gn ng v trng thi thc ca h. Khong thi gian
hu hnT khng cn phi chn ph thuc theo im
cc ca
i
A
474
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011
VCCA-2011
Nhn xt: T phn chng minh ta thy rng b quan
st (10) s c ( )
s
e t cng nh khi khong thi gian
T>0 c chn cng nh. B FTO (10) cng m bo
tnh hi t ca sai lch quan st khi
0
> + t t T vi mi
iu kin u ca h (2).
3. Thit k b iu khin PHTT thch
nghi da trn phng php gi
nh r v n nh ISS
Quay tr li bi ton iu khin PHTT bm tn hiu t
cho h phi tuyn (1). Khi h (1) ch c tham s bt
nh th trong cc ti liu [1] gii thiu phng
php gi nh r. Khi h (1) c nhiu th trong ti liu
[5] c gii thiu mt phng php da trn l thuyt
n nh ISS tuy nhin min hp dn ca phng php
ny c bn knh r>1, ngoi ra cn c phng php
iu khin trt [10]. Tuy nhin phng php ny
khng xt n tham s bt nh v c nhc im l
gy ra hin tng chattering. gii quyt bi ton
iu khin bm cho h (1) ng thi c tham s bt
nh v nhiu chng ti xut mt phng php
iu khin thch nghi theo nhiu sao cho sai lch bm
tn hiu t v o hm ca chng lun tin v min
hp dn ln cn gc vi bn knh nh ty .
nh l 2: Cho h phi tuyn (1) c ng thi cha c
sai lch m hnh, biu din bi vector tham s bt
nh u v sai lch tn hiu, biu din bi ( ) 0 q = t ,
tha mn cc tnh cht 1 v tnh cht 2. S dng b
iu khin thch nghi tuyn tnh ha chnh xc m
hnh ngc gi nh r:

( )
( ) ( )
2
1
2
2
,
, ,
d w de
u y p e
dt
dt
g y x p v t
F

| |
= + + + |
|
\ .
+ +
1
K K

(15)
trong p l vc t tham s hng thay th cho vc t
tham s bt nh u c chn sao cho
( )
1
1
,

y p F l
mt gi tr b chn v c cu hiu chnh thch nghi
theo nhiu ( ) v t c m hnh:

( )
( )
1
1 1
1
0 0
,

T
T
dz
E P
z
dt
y p
v z
F
F
F

O | |

|
=
=
|
\ .

e
(16)
vi E l ma trn i xng xc nh dng ty chn,
1
F l ma trn hm phi tuyn hi quy xc nh theo
tnh cht 2, ma trn P
1 2 1
1 2
2K K K
K K
,
1 2
K ,K
l hai ma trn ng cho xc nh dng vi cc
phn t trn ng cho l:

11 1
0
n
k k a c = = = >

21 2
( 1)
n
k k a a = = = +
c a l hng s dng ty chn v 1 c s sa . Khi
u ra ca h (1) s bm theo tn hiu t , , w w w
theo ngha sai lch bm qu o cng vi o hm
bc nht ca chng:
( ) ( )
T
T
e e w y w y = = e (17)
lun lun tin c v min hp dn nh ty quanh
ln cn gc c bn knh c xc nh bi

{ }
2
min
/
n
o = e s R e e (18)
sup ( ) q q

= =
t
t (19)

1
1 1
1
( , ) max ( , )
n
ij
i n
j
y p m y p F

s s
=
= =

(20)

min
min max ( , ) =
p y
y p (21)

{ }
max , ( 1) ( 1) o = + = + a a a a a (22)

{ }
2 2 2
min , = = a a a (23)
Vi s la chn ty cc tham s E, a, c ta s c
c min hp dn c quyt nh bi:
1) Hng s a cng ln, sai lch ( ) e t v ( ) e t gy
ra bi nhiu ( ) q t s cng gim hay min hp dn
cng nh li, nu a th min hp dn l
gc ta hay ( ) 0 e t
2) Nu ma trn i xng xc nh dng E c
chn c gi tr ring cng nh th min hp dn
ca sai lch ( ) e t v ( ) e t gy ra bi sai lch
tham s bt nh u = p p cng nh.
3) Khi c chn cng ln gn vi a th tc tin vo
min hp dn ca sai lch bm cng nhanh, c
ngha l qu trnh qu cng ngn

H1: Cu trc iu khin bm tn hiu t thch nghi gi
nh r s dng nguyn l hiu chnh thch nghi sai
lch v n nh ISS cho h phi tuyn c nhiu v tham
s bt nh (1)
Phn chng minh nh l 2 v cc iu kin chn
tham s p ca
( ) ( )
, , , , y p g y x p F c chng ti
trnh by chi tit trong cc ti liu [11],[12].
4. iu khin PHR thch nghi theo SE s
dng FTO
Gi thit vc t bin trng thi
2
x ca h (1) khng
o c, s dng iu khin PHR thch nghi theo SE.
475
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011
VCCA-2011
h kn PHR gm b QSTT, h phi tuyn v b iu
khin PHTT n nh th sai lch quan st phi tha mn
tnh cht sau:
Tnh cht 3 [13]: Tnh cht sai lch quan st b chn
- Trng thi b chn (Bounded Error Bounded States
(BEBS Property)
( ) ( ) ( ) , 0

e e e
n
s
e t L x t L x R (24)
4.1 Tnh tha mn SE ca b iu khin PHTT
Ghp chung b QSTT v b iu khin PHTT thit k
phn 3 ta c b iu khin PHR thch nghi bm
tn hiu t cho h (1). Ta s xem xt sai lch quan st
ca b QSTT
=
s
e x x nh l mt thnh phn nhiu
u vo ca b iu khin th thy c ngay rng
bng phng php iu khin thch nghi PHTT phn
3, bi ton rt gn ca SE s c gii quyt hon
ton nu sai lch b chn. T phng trnh b iu
khin (15) nu trong nh l 2, thay th trng thi ca
h bng trng thi quan st ta c u ra ca b iu
khin khi s dng QSTT l:

( ) ( )
( )
( )
( ) ( ) ( )
2
2
2
2
2
2
,
, , ( )
,
, , ( )
m m s s
d w dw
u t y p e x
dt
dt
g y x p v t
d w dw
y p e x
dt
dt
g y x p v t e u e
| |
| |
= + + |
|
|
\ .
\ .
+ +
| |
| |
= + + |
|
|
\ .
\ .
+ + + = +
F
F
1
1
K K
K K
(25)
T (25) ta nhn thy rng u ra ca b iu khin s
dng QSTT s bng u ra ca b iu khin s dng
trng thi thc ca h cng thm mt thnh
phn
( )
m s
e l hm ca sai lch quan st
s
e tha mn
0
s
e = th
( )
0
m s
e = . Nu b quan st c ( )
s
e t b
chn th
( )
m s
e b chn. T ta c th coi
( )
m s
e l mt i lng nhiu tc ng ln u vo
ca i tng cho nn vi c cu hiu chnh thch
nghi theo nhiu (16) s loi b c s nh hng ca
nhiu ny. B iu khin PHTT (15) c min n nh
l ton b khng gian trng thi. Thng thng iu
kin u ca b QSTT thng c chn bng 0 nn
trong trng hp iu kin u ca h (1) bng v
cng th sai lch quan st ( ) ( )
0 0 = =
s
e x x .
iu ny vi phm tnh cht 3, cho nn sai lch
quan st b chn th ( ) 0 x l mt s hu hn hay iu
kin u ca ca h (1) phi l hu hn. Vy h kn
gm b iu khin (15), c cu hiu chnh thch nghi
theo nhiu (16) v b QSTT s n nh ton cc. Tm
tt li nhng iu suy lun trn, ta i n nh l sau
cho bi ton tha mn SE ca b iu khin PHTT nh
sau:
nh l 3: B iu khin PHTT (15) v c cu hiu
chnh thch nghi theo nhiu (16) lun tha mn SE vi
mi b QSTT c:
a) Sai lch quan st thay th c bng i lng
nhiu u vo ca i tng iu khin v
b) Sai lch quan st l b chn
Khi b iu khin PHR gm b iu khin PHTT
(15), c cu hiu chnh thch nghi theo nhiu (16) v
b QSTT s m bo tnh n nh ton cc theo sai
lch bm tn hiu t cho h kn.
4.2 Tnh tha mn SE ca b FTO
Gi s h phi tuyn (1) c b iu khin PHTT lm cho
h n nh, hay ( ) x t b chn. Vi b FTO (10) c
chng minh nh l 1 ta cng c: ( )
x t b chn khi
0st <T v ( ) ( ) ( )
= +
s
x t x t e t khi t >T. V ( )
s
e t l
hu hn v c th iu chnh c nh ty thng
qua cc tham s thit k nn theo tnh cht 3 b FTO
tha mn SE.
4.3 iu khin thch nghi PHR da trn SE cho mt
lp h phi tuyn Lipschitz c tham s bt nh
v nhiu s dng FTO
T nhng l lun phn 4.1 v 4.2 trn, ta c b
iu khin PHR thch nghi theo SE s dng FTO gm
b iu khin PHTT (15), c cu hiu chnh thch nghi
theo nhiu (16) v b FTO Lipschitz (10) s iu khin
h (1) bm theo tn hiu t vi sai lch bm c ko
v min hp dn nh ty . H kn m bo tnh n
nh ton cc.

H2: Cu trc iu khin thch nghi PHR theo SE da trn
khng nhiu v n nh ISS cho mt lp h phi tuyn c
tham s bt nh v nhiu s dng FTO
5. Minh ha cho bi ton iu khin bm
qu o ca tay my 2 bc t do
Tip theo, chng ti minh ha phng php iu
khin PHR thch nghi theo SE s dng FTO cho mt
lp h phi tuyn c tham s bt nh v nhiu nh
trnh by phn 4.3 vo bi ton iu khin bm qu
o t h tay my robot planar 2 bc t do. H tay
my ny c khi lng im cng tc cui cha bit,
c nhiu m men v gi thit ch o c v tr gc
cc khp. Phng php iu khin minh ha ny cng
hon ton p dng c cho cc h tay my khc
c m t bng phng trnh Euler Lagrange nh
robot polar, robot cylinder .. thy r hn cht
lng ng hc ca h iu khin cc kt qu m
phng thc hin v so snh c hai trng hp l
phn hi trng thi (gi thit vn tc v gia tc u o
c) v phn hi u ra (ch o c v tr gc cc
khp). M hnh tay my robot planar v cc tham s
476
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011
VCCA-2011
vt l cng nh m hnh c m t chi tit trong ti
liu [5], v khun kh ca bi bo c hn cho nn
chng ti khng trnh by y. Cc tham s vt l:
m
1
, m
2
[kg] l khi lng ca im cui cc khp 1
v 2, l
1
, l
2
[m] l chiu di thanh ni cc khp 1 v 2,
q
1
, q
2
[rad] l gc cc khp 1 v 2, t
1
, t
2
[Nm] l
m men u vo tc ng ln cc khp. Gi thit rng
khi lng im cui m
2
l cha bit. Cc m men
t
1
, t
2
nh hng bi nhiu q
1
(t) v q
2
(t). Cc tham
s m phng nh sau:
( ) ( )
1 2 1 2
1 2
1 , 1.5 , 0.5 , 0.5
3, 0 2, 0 2, 1, 10, 100
m kg m kg l m l m
p q q E a c
= = = =
= = = = = =

Cc kt qu m phng c th hin nh sau:
+ Quan st vn tc cc khp vi 0.01 = T s
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
-80
-70
-60
-50
-40
-30
-20
-10
0
10
20
time (s)
V
a
n
t o
c
k
h
o
p
1
( r a
d
/ s
)
thuc
FTO
HGO

H2: Vn tc thc v vn tc quan st ca khp 1 vi
0.01 = T s
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
-60
-50
-40
-30
-20
-10
0
10
20
time (s)
V
a
n
t o
c
k
h
o
p
2
( r a
d
/ s
)
thuc
FTO
HGO

H3: Vn tc thc v vn tc quan st ca khp 2 vi
0.01 = T s
+ iu khin PHR theo SE s dng FTO
0 10 20 30 40 50 60 70 80 90 100
-10
-5
0
5
10
15
20
25
30
35
40
time (s)
C
a
c

m
o
m
e
n
Momen 1
Momen 1 bi nhieu
Momen 2
Momen 2 bi nhieu

H4: M men tc ng vo khp 1 v 2 chu nh hng bi
nhiu m men
0 2 4 6 8 10
-2
-1.5
-1
-0.5
0
0.5
1
1.5
time (s)
A
n
g
l e

q
1

(
r
a
d
)
q1 dat
q1 phan hoi trang thai
q1 phan hoi dau ra

H5: Qu o t v qu o thc ca khp 1 trong hai
trng hp: phn hi vn tc cc khp v phn hi v tr
gc cc khp
0 2 4 6 8 10
-1.5
-1
-0.5
0
0.5
1
1.5
2
time (s)
A
n
g
l e

q
2

(
r
a
d
)
q2 dat
q2 phan hoi dau ra
q2 phan hoi trang thai

H6: Qu o t v qu o thc ca khp 2 trong hai
trng hp: phn hi vn tc cc khp v phn hi v tr
gc cc khp
0 2 4 6 8 10
-20
-10
0
10
20
30
40
50
60
time (s)
V
a
n

t
o
c

g
o
c

k
h
o
p

1

(
r
a
d
/
s
)
Van toc dat
Phan hoi trang thai
Phan hoi dau ra

H7: Vn tc t v vn tc thc ca khp 1 trong hai
trng hp: phn hi vn tc cc khp v phn hi v tr
gc cc khp
0 2 4 6 8 10
-70
-60
-50
-40
-30
-20
-10
0
10
time (s)
V
a
n

t
o
c

g
o
c

k
h
o
p

2

(
r
a
d
/
s
)
Van toc dat
Phan hoi van toc
Phan hoi dau ra

H8: Vn tc t v vn tc thc ca khp 2 trong hai
trng hp: phn hi vn tc cc khp v phn hi v tr
gc cc khp
0 1 2 3 4 5 6 7 8 9 10
-100
-80
-60
-40
-20
0
20
40
60
80
100
time (s)
C
a
c
t i n
h
i e
u
b
u
v
1
v
a
v
2
v1
v2

H9: Cc tn hiu hiu chnh thch nghi theo sai lch
( ) ( )
1 2
, v t v t
Nhn xt: H2 v H3 l kt qu quan st vn tc ca
tay my vi thi gian quan st c chn l
0.01 T s = . Sau ng khong thi gian ny vn tc
quan st hi t v vn tc thc ca cc khp. Cc kt
qu ny cng c so snh vi b quan st h s
khuch i ln (HGOhigh gain observer) c thit
k vi im cc c chn bng im cc xa nht ca
b FTO, gi tr quan st ca HGO c thi gian hi t v
gi tr vn tc thc sau khong thi gian c 0.5s . T
kt qu so snh cho thy c u im ca b FTO
m chng ti thit k trong bi bo ny. H4 m t tn
hiu m men u vo chu tc ng ca nhiu, nhiu
ny sinh ra t tham s bt nh l khi lng im
cng tc cui m
2
nhiu m men t c cu chp hnh
477
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011
VCCA-2011
v nhiu sinh ra do sai lch quan st to ra u ra b
iu khin PHTT. H5, H6, H7 l cc kt qu iu
khin bm qu o ca khp 1 v 2. Qu o t ca
khp 1 c chn l ng nhy bc, qu o t ca
khp 2 c chn c dng hnh sin. Th hin trn cc
hnh v ta thy gc v vn tc ca cc khp trong iu
khin PHR bm theo gi tr t vi cht lng tng
ng trong trng hp iu khin PHTT. H9 l tn
hiu hiu chnh thch nghi theo sai lch bm qu o,
tn hiu ny c nhim v ko sai lch v o hm ca
sai lch v min hp dn nh ln cn gc theo mc
tiu thit k. Nh vy mc d do nh hng ca tham
s bt nh v nhiu, trong iu kin ch cn o c
v tr gc ca cc khp, qu o ca tay my c
iu khin bm theo qu o vi sai lch bm nh ty
thng qua vic chn la cc tham s thit k E, a, c.
6. Kt lun
Bi bo ny trnh by phng php iu khin
thch nghi phn hi u ra theo SE s dng FTO cho
mt lp h phi tuyn c ng thi tham s bt nh v
nhiu u vo vi mc tiu bm tn hiu t. tng
ca b iu khin ny c thit k da trn l thuyt
n nh ISS v k thut khng nhiu. Cc trng thi
trong h c quan st bng b FTO, u im ca b
quan st ny l chng ta c th chn trc c
khong thi gian hi t v gi tr gn ng vi trng
thi thc ca trng thi quan st. Sai lch bm tn hiu
t v o hm ca chng ny sinh do nh hng ca
tham s bt nh, nhiu u vo v sai lch quan st
s c b iu khin phn hi trng thi vi c cu
hiu chnh thch nghi ko v mt min hp dn nh
ty bng vic la chn cc tham s thit k.
minh ha cho phng php iu khin ny chng ti
p dng cho bi ton iu khin bm qu o cho tay
my robot hai bc t do c nhiu m men v khi
lng im cng tc cui cha bit trong iu kin
ch o c v tr gc cc khp.

Ti liu tham kho
[1] Nguyn Don Phc: L thuyt iu khin nng
cao, Nh xut bn Khoa hc k thut, 2007
[2] Petar Kokotovic, Murat Arcak: Nonlinear and
Adaptive Control An Abbreviated Status Report.
The 9
th
Mediterranean Conferrence on Control and
Automation Dubrovnic, Croatia, June 2001
[3] Teel, A.R and L.Praly (1994): Global stabilizability
and observability imply semi-global stabilizability
by output feedback. Systems and control letters 22,
313-325
[4] Mazenc,F.,L.Praly,and .Dayawansa(1994): Global
stabilization of output feedback systems: Examples
and counter-examples. System & Control
Letters,23,pp.119125
[5] Lewits, F.R; Dawson, D.M and Abdallah,C.T:
Robot Manipulator Control. Theory and Practice
(2.Ed). Marcel Dekker Inc 2004
[6] R. Engel and G. Kreisselmeirer: A continuous time
observer which converges in finite time, IEEE
Transaction on Automatic Control, Vol 48, No 3,
pp 451-464, 2003
[7] Patrick H. Menold, Rolf Findeisen, Frank
Allgower: Finite time convergent observers for
nonlinear systems, Proceedings of the 42
nd
IEEE
Conference on Decision and Control Maui, Hawai
USA, 12, 2003
[8] A. Aboky, G.Sallet, and J. C. Vivalda: Observers
for Lipschitz nonlinear systems, International
Journal of Control, vol 75, no 3, pp 204-212, 2002
[9] Yongliang Zhu: Output feedback control of
nonlinear systems, Thesis doctor of philosophy,
December, 2004, Oklahoma State University, USA
[10] Won Kim, Jin-Ho Shin, Ju Jang Lee: Sliding Mode
Control for a Robot Manipulator, ICASE: The
Institute of Control, Automation and Systems
Engineers. KOREA, Vol 4, No1, March 2002
[11] Nguyn Vn Ch, Nguyn Don Phc (2011):
iu khin bm n nh ISS cc h c in t m t
bi m hnh Euler-Lagrange, Tp ch Khoa hc &
Cng ngh cc trng i hc K thut, s 81,
trang 31-36, H Ni
[12] Chi Nguyen Van, Phuoc Nguyen Doan (2011):
Adaptive Tracking Control Based on Disturbance
Attenuation and ISS Stabilization of Euler
Lagrange Nonlinear Systems In The Presence of
Uncertainty and Input Noise, Proceeding of
AIMSEC2011, EEAC2011.
[13] Murat Arcak: Unmodeled Dynamics in Robust
Nonlinear Control, Doctor Thesis, Electrical and
Computer Engineering, University of California,
Santa Barbara, 2000, page 85.
Th.S. Nguyn Vn Ch, tt nghip k
s ngnh o lng v iu khin T
ng ti i hc K thut Cng nghip
Thi Nguyn nm 2000 v thc s
ngnh iu khin v T ng ha ti
i hc Bch khoa H ni nm 2005.
T nm 2000 l cn b ging dy ti
i hc K thut Cng nghip Thi
Nguyn. Hin nay Th.S. Nguyn Vn Ch l nghin cu
sinh ti i hc Bch khoa H Ni v bo v lun n
Tin s cp c s thng 9.2011. Lnh vc quan tm l
Quan st trng thi; iu khin thch nghi h phi tuyn;
iu khin qu trnh v iu khin ti u.
PGS.TS. Nguyn Don Phc, tt
nghip i hc Tng hp k thut
Dresden nm 1981. T 1981-1982 l k
s nghin cu v pht trin ca VEB
Robotron, CHDC c. T 1983-1988 l
cn b nghin cu Vin 481 (Vin Ht
nhn Qun i). Nm 1989-1990 l cn
b nghin cu Vin Nng lng nguyn
t Quc gia. T 10.1990 n 11.1993 l nghin cu sinh ti
Vin L thuyt cc h thng iu khin, trng i hc
Tng hp k thut Dresden, CHLB c v bo v hc v
Dr.-Ing. nm 1994. Nm 1994-1996 l cn b nghin cu
Vin Fraunhofer Dresden, CHLB c. T 1997 n nay l
cn b ging dy ca i hc Bch khoa H Ni v c
phong hc hm PGS nm 2003. Lnh vc nghin cu l: L
thuyt h ng hc phi tuyn; iu khin thch nghi phi
tuyn v Nhn dng.

478