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3rd International symposium on Intelligent Unmanned Systems and Artificial Intelligence (SIUSAI)

作者： Zhang, Qiang Xu, Yuemei Shao, Xingling Deng, Ruixiang North Univ China Sch Elect & Control Engn Taiyuan Peoples R China

ISBN: (纸本)9798400710025

This paper delves into the adaptive neural command filtered (ANCF) control utilizing a disturbance observer for nonlinear strict-feedback systems with input delay and unknown external disturbance. It is worth noting that the Pade approximation and Laplace transform are commonly employed to handle input delay situations, and the infinitesimal quantity produced by this method can not be eliminated. To tackle this challenge, an adaptive parameter is introduced to estimate this infinitesimal quantity. Different from the dynamic surface control method, the method of considering the command filter method can solve the problem of computational explosion in the backstepping design, and the filter error generated is well eliminated. The unknown composite disturbances are estimated by the nonlinear disturbance observer (NDO), and the estimated information is constructed in the controller design. Drawing upon the adaptive backstepping methodology along with the Lyapunov stability theorem, a novel ANCF controller is crafted, grounded in the NDO framework. Rigorous analysis establishes that all signals within the closed-loop systems remain bounded, while the disturbance estimation errors and tracking errors converge to a small neighborhood of origin. To corroborate the controller's effectiveness, simulation results are presented.

关键词： Command filter method input delay nonlinear disturbance observer pade approximation backstepping technique

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design and Implementation of Advanced Output Feedback control for VSC-HVDC Transmission System 12

Design and Implementation of Advanced Output Feedback Contro...

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12th IFAC symposium on control of Power and Energy Systems (CPES)

作者： El Myasse, Ilyass El Magri, Abdelmounime Watil, Aziz El Mezdi, Karim Mansouri, Adil El Khlifi, Younes Hassan II Univ EEIS Lab ENSET Mohammedia Casablanca 20070 Morocco

This paper introduces a backstepping control scheme incorporating a nonlinear observer for Voltage Source Converter-based High Voltage Direct Current (VSC-HVDC) systems. The proposed strategy relies on observer design to estimate previously inaccessible states within the system, including remote states along the HVDC cable and parameters of the power grids. The strategy requires only the measurement of line currents for implementation. Simulation results demonstrate the efficacy of the developed approach. Furthermore, a semi-experimental implementation, utilizing a Process-in-Loop (PiL) test, is conducted to validate the feasibility of the proposed methodology in practical scenarios. The outcomes of this study contribute to the advancement of control strategies for VSC-HVDC systems, offering valuable insights for improving system stability and performance.

关键词： VSC-HVDC systems Output Feedback control nonlinear observer Backstepping control PIL Test

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Immersion and invariance disturbance observer-based nonlinear discrete-time control for fully actuated mechanical systems

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2022年第2期53卷 388-401页

作者： Adiguzel, Fatih Yalcin, Yaprak Istanbul Univ Cerrahpasa Dept Elect & Elect Engn Istanbul Turkey Istanbul Tech Univ Dept Control & Automat Istanbul Turkey

This paper addresses the attenuation problem of input disturbances in the control of fully actuated mechanical systems in the discrete-time setting. Firstly, a discrete-time disturbance estimator design with immersion and invariance (I&I) approach is presented for the n-degrees of freedom (DOF) fully actuated mechanical systems. Then, a discrete-time combined feedback linearising and backstepping control is established that this controller uses the estimated disturbance information. Global asymptotic stability of the estimator and local asymptotic stability of the entire closed-loop system in an arbitrarily large compact set are shown utilising the Lyapunov stability theory. In order to show the effectiveness of the proposed composite observer-based discrete-time control method, it is applied to the 3-DOF robotic manipulator. Performance of proposed direct discrete-time combined feedback linearising and backstepping controller with discrete-time I&I observer is compared with a direct discrete-time conventional second-order sliding mode controller with another discrete-time nonlinear disturbance observer via simulations. The superior performance of the proposed method is demonstrated with simulation results.

关键词： Disturbance attenuation discrete-time nonlinear disturbance observer (NDO) discrete-time control immersion and invariance (I&I) feedback linearisation backstepping control

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Theoretical Development and Experimental Evaluation of a nonlinear observer for sensorless WECS 12

Theoretical Development and Experimental Evaluation of a Non...

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12th IFAC symposium on control of Power and Energy Systems (CPES)

作者： Mansouri, A. El-bakkouri, J. El Magri, A. Elaadouli, N. El Myasse, I. Lajouad, R. Giri, F. Hassan II Univ Casablanca EEIS Lab ENSET Mohammedia Casablanca Morocco Hassan II Univ Casablanca ENSEM Casablanca Morocco Univ Caen Normandie LIS Lab Caen France

This research paper introduces a novel sensorless wind energy conversion system (WECS) with a Vienna rectifiers-based high-gain observer. The main emphasis is on crafting a high-gain observer capable of providing real-time estimates for challenging-to-measure signals like rotor speed and load torque. Addressing the complexities arising from system nonlinearity and high dimensionality, the paper showcases the effectiveness of the proposed observer through simulations and theoretical analysis. Furthermore, an experimental validation on the Real-Time Digital Simulator (RTDS) platform validates the observer's performance and reliability, highlighting its potential for enhancing sensorless WECS technology. Copyright (c) 2024 The Authors.

关键词： nonlinear control Adaptive observer Energy conversion system Vienna rectifier Sensorless control

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Passive momentum observer for nonholonomic systems 12

Passive momentum observer for nonholonomic systems

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12th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Ferguson, Joel McLean, Kyle Univ Newcastle Callaghan NSW Australia

ISBN: (纸本)9781713872344

In this note, we extend a recent hybrid passive momentum observer for mechanical system to nonholonomic systems. The momentum observer assumes that configuration measurements of the underlying system are available, but measurements of the momentum or velocity are not available. Utilising a hybrid observer definition, the resulting observer converges at an exponential rate and has a lower dimension when compared to similar results. The observer additionally has a passive input-output pair which is used to interconnect with a control-by-interconnection (CbI) scheme, guaranteeing stability of the joint observer and controller system.

关键词： Nonholonomic systemsnonlinear observersfilter designPassivity-based controlLagrangianHamiltonian systemsStability of hybrid systems

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Robust Current control for Grid-Connected VSC: nonlinear Adaptive control with Perturbation Estimation 12

Robust Current Control for Grid-Connected VSC: Nonlinear Ada...

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12th IFAC symposium on control of Power and Energy Systems (CPES)

作者： Alabdullatif, Mohammed Jiang, Lin Yang, Ning Univ Liverpool Dept Elect Engn & Elect Liverpool Merseyside England Univ Strathclyde Dept Elect Engn & Elect Glasgow Lanark Scotland

This paper introduces a robust control strategy for grid-connected voltage source converters using nonlinear Adaptive control (NAC) enhanced by a perturbation observer (PO). This approach precisely regulates grid current and adapts to unknown dynamics, time-varying parameters, and disturbances impacting the system. By estimating and compensating for these perturbations, the strategy achieves adaptive feedback linearization, effectively managing the system's inherent nonlinearity without requiring an exact model or extensive measurements. The NAC offers substantial improvements over traditional vector control and feedback linearization, particularly under conditions where grid voltage significantly deviates from normal levels. Simulation results confirm the superior performance of the proposed method. Copyright (c) 2024 The Authors.

关键词： nonlinear adaptive control perturbation observer voltage source converter

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Filtered High Gain observer for PEMFC system in automotive applications 12

Filtered High Gain Observer for PEMFC system in automotive a...

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12th IFAC symposium on control of Power and Energy Systems (CPES)

作者： El Aoumari, Abdelaziz Ouadi, Hamid El-Bakkouri, Jamal Giri, Fouad Mohammed V Univ ENSAM ERERA Rabat Morocco Hassan II Univ ENSEM LESE Casablanca Morocco Univ Caen Normandie LIS Lab Caen France

In proton exchange membrane fuel cells (PEMFC), the management of the oxygen excess ratio is crucial. Indeed, an insufficient amount of oxygen can lead to the problem of degradation of the performance and lifetime of the cell. However, this ratio is not measurable, hence the need to use an observer to estimate it. Unlike a standard high-gain observer, where measurement noise affects the observer performances, in this paper, we propose a filtered high-gain observer based on measurable variables such as compressor speed and supply manifold pressure. Thus, it is equipped with low-pass filter dynamics to reduce sensitivity to measurement noise. The stability of the observer is analyzed using Lyapunov stability tools. The simulation results highlight the superiority of the new proposed observer compared with a standard high-gain observer. Copyright (c) 2024 The Authors.

关键词： PEMFC system Oxygen Excess Ratio (OER) nonlinear observer Filtered High Gain observer Lyapunov stability

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Data-Driven nonlinear State Observation using Video Measurements 12

Data-Driven Nonlinear State Observation using Video Measurem...

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12th IFAC symposium on Advanced control of Chemical Processes (ADCHEM)

作者： Weeks, Cormak Tang, Wentao North Carolina State Univ Dept Chem & Biomol Engn Raleigh NC 27695 USA

State observation is necessary for feedback control but often challenging for nonlinear systems. While Kazantzis-Kravaris/Luenberger (KKL) observer gives a generic design, its model-based numerical solution is difficult. In this paper, we propose a simple method to determine a data-driven KKL observer, namely to (i) pass the measured output signals through a linear time-invariant dynamics, and (ii) reduce the dimensionality to principal components. This approach is especially suitable for systems with rich measurements and low-dimensional state space, for example, when videos can be obtained in real time. We present an application to a video of the well-known Belousov-Zhabotinsky (B-Z) reaction system with severe non-linearity, where the data-driven KKL observer recovers an oscillatory state orbit with slow damping. Copyright (c) 2024 The Authors.

关键词： State observation nonlinear systems Principal component analysis Video data

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Constructive Equivariant observer design for Inertial Velocity-Aided Attitude 12

Constructive Equivariant Observer Design for Inertial Veloci...

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12th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： van Goor, Pieter Hamel, Tarek Mahony, Robert Australian Natl Univ Canberra ACT 2601 Australia Univ Cote dAzur I3S CNRS Sophia Antipolis France Inst Univ France Paris France

ISBN: (纸本)9781713872344

Inertial Velocity-Aided Attitude (VAA), the estimation of the velocity and attitude of a vehicle using gyroscope, accelerometer, and inertial-frame velocity (e.g. GPS velocity) measurements, is an important problem in the control of Remotely Piloted Aerial Systems (RPAS). Existing solutions provide limited stability guarantees, relying on local linearisation, high gain design, or assuming specific trajectories such as constant acceleration of the vehicle. This paper proposes a novel non-linear observer for inertial VAA with almost globally asymptotically and locally exponentially stable error dynamics. The approach exploits Lie group symmetries of the system dynamics to construct a globally valid correction term. To the authors knowledge, this construction is the first observer to provide almost global convergence for the inertial VAA problem. The observer performance is verified in simulation, where it is shown that the estimation error converges to zero even with an extremely poor initial condition.

关键词： nonlinear observersEquivariant Systems TheoryVelocity Aided Attitude

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Attitude Estimation from Vector Measurements: Necessary and Sufficient Conditions and Convergent observer design 12

Attitude Estimation from Vector Measurements: Necessary and ...

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12th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Yi, Bowen Wang, Lei Manchester, Ian R. Univ Sydney Australian Ctr Field Robot Sch Aerosp Mech & Mechatron Engn Sydney NSW 2006 Australia Zhejiang Univ State Key Lab Ind Control Technol Hangzhou 310027 Peoples R China

ISBN: (纸本)9781713872344

The paper addresses the problem of attitude estimation for rigid bodies using (possibly time-varying) vector measurements, for which we provide a necessary and sufficient condition of distinguishability. Such a condition is shown to be strictly weaker than those previously used for attitude observer design. Thereafter, we show that even for the single vector case the resulting condition is sufficient to design almost globally convergent attitude observers, and an explicit design is obtained. To overcome the weak excitation issue, the design makes full use of historical information. Simulation results illustrate the accurate estimation despite with noisy measurements.

关键词： nonlinear systemsobserver designobservabilityattitude estimation

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