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10th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Kravaris, Costas Texas A&M Univ College Stn TX 77843 USA

In this work, the problem of designing observers for estimating a single nonlinear functional of the state is formulated for general nonlinear systems. Notions of functional observer linearization are also formulated, in terms of achieving exactly linear error dynamics in transformed coordinates and with prescribed rate of decay of the error. Necessary and sufficient conditions for the existence of a lower-order functional observer with linear dynamics and linear output map are derived. The results provide a direct generalization of Luenbergers linear theory of functional observers to nonlinear systems. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Functional observers exact linearization observer design chemical process applications

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Singularity-free non-linear controller for a model-scaled autonomous helicopter

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IET control theory AND applications 2016年第2期10卷 210-219页

作者： Zou, Yao Huo, Wei Beihang Univ Sch Automat Sci & Elect Engn Res Div 7 Sci & Technol Aircraft Control Lab Beijing 100191 Peoples R China

A singularity-free non-linear controller is proposed for trajectory tracking of a model-scaled autonomous helicopter. The helicopter model is firstly decomposed into a nominal one with unmodelled dynamics. Based on the decomposed model, the controller is designed with the hierarchical inner-outer loop strategy. The outer position loop controller is designed with hyperbolic tangent functions, and criteria for controller parameter selections are developed to realise the position tracking and to obviate singularity in deriving the command attitude from the position loop controller. The inner attitude loop controller is designed based on barrier Lyapunov function and backstepping technique to achieve the attitude tracking without singularity during the tracking process. In addition, in order to improve the tracking performance, observers are employed to compensate the unmodelled dynamics. Simulation of two manoeuvres verify the proposed theoretical results.

关键词： nonlinear control systems autonomous aerial vehicles helicopters trajectory control robot dynamics position control attitude control Lyapunov methods control nonlinearities observers aerospace simulation manoeuvre simulation observer attitude tracking backstepping technique barrier Lyapunov function inner attitude loop controller design command attitude position tracking controller parameter selection hyperbolic tangent function outer position loop controller design hierarchical inner-outer loop strategy unmodelled dynamics trajectory tracking model-scaled autonomous helicopter singularity-free nonlinear controller

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Active control systems with applications in aeroservoelasticity

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AIP Conference Proceedings 2018年第1期1978卷

作者： Catalin Nae Gabriela Liliana Stroe Irina-Carmen Andrei d) Sorin Berbente Florin Frunzulica 1INCAS ‒ National Institute for Aerospace Research “Elie Carafoli” B-dul Iuliu Maniu 220 Sector 6 Bucharest 061126 Romania 2“POLITEHNICA” University of Bucharest Faculty of Aerospace Engineering Str. Gh. Polizu 1-7 Sector 1 Bucharest 011061 Romania

Aeroelastic flutter involves the adverse interaction of aerodynamics with structural dynamics and produces an unstable oscillation that often results in structural failure. Such oscillations must strictly be avoided, because these can lead to catastrophic failures. Important issues such as the reduction of the flutter speed and structural stiffness are analyzed and concluded that can be obtained by weight reduction and aerodynamically efficient high aspect ratio wing design. Future flight control systems will be designed to use active control systems to counter these adverse aeroservoelastic effects, such that this feature will become of increasingly importance for the ensuring the safety of flight. The study presented in this paper is dedicated to linear and nonlinear aeroelastic response, which is modeled on account of experimental data basis, being focused on analyzing and controlling the prescribed plunge and pitch motion of a wing. The addition of either a control surface, combined active control system, extends the stable flight domain. The aerodynamic model of the plunge and pitch motion of the wing is developed from an approximation of the classical unsteady theory. Complete details about a full-state feedback control law, as well as a calculated optimal observer which are incorporated in purpose to stabilizing the system above the open loop flutter velocity, are presented in this paper. Following the use of the linear theory, an original nonlinear model is introduced and tested for the considered control laws. The paper concludes with an excellent correlation between theory and experiment that is achieved for the exposed models.

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Variable Structure control of Complex Systems: Analysis and design

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2016年

作者： Xinggang Yan Sarah K Spurgeon Christopher Edwards

ISBN: (纸本)9783319489612

This book systematizes recent research work on variable-structure control. It is self-contained, presenting necessary mathematical preliminaries so that the theoretical developments can be easily understood by a broad readership. The text begins with an introduction to the fundamental ideas of variable-structure control pertinent to their application in complex nonlinear systems. In the core of the book, the authors lay out an approach, suitable for a large class of systems, that deals with system uncertainties with nonlinear bounds. Its treatment of complex systems in which limited measurement information is available makes the results developed convenient to implement. Various case-study applications are described, from aerospace, through power systems to river pollution control with supporting simulations to aid the transition from mathematical theory to engineering practicalities. The book addresses systems with nonlinearities, time delays and interconnections and considers issues such as stabilization, observer design, and fault detection and isolation. It makes extensive use of numerical and practical examples to render its ideas more readily absorbed. Variable-Structure control of Complex Systems will be of interest to academic researchers studying control theory and its application in nonlinear, time-delayed an modular large-scale systems; the robustness of its approach will also be attractive to control engineers working in industries associate with aerospace, electrical and mechanical engineering.

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Shaping Pulses to control Bistable Monotone Systems Using Koopman Operator

Shaping Pulses to Control Bistable Monotone Systems Using Ko...

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10th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Sootla, Aivar Mauroy, Alexandre Goncalves, Jorge Univ Liege Montefiore Inst B-4000 Liege Belgium Univ Luxembourg Luxembourg Ctr Syst Biomed L-4367 Belvaux Luxembourg

In this paper, we further develop a recently proposed control method to switch a bistable system between its steady states using temporal pulses. The motivation for using pulses comes from biomedical and biological applications (e.g. synthetic biology), where it is generally difficult to build feedback control systems due to technical limitations in sensing and actuation. The original framework was derived for monotone systems and all the extensions relied on monotone systems theory. In contrast, we introduce the concept of switching function which is related to eigenfunctions of the so-called Koopman operator subject to a fixed control pulse. Using the level sets of the switching function we can (i) compute the set of all pulses that drive the system toward the steady state in a synchronous way and (ii) estimate the time needed by the flow to reach an epsilon neighborhood of the target steady state. Additionally, we show that for monotone systems the switching function is also monotone in some sense, a property that can yield efficient algorithms to compute it. This observation recovers and further extends the results of the original framework, which we illustrate on numerical examples inspired by biological applications. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Eigenvalues and eigenfunctions

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Active disturbance rejection control design for piezoelectric positioning system

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Kongzhi Lilun Yu Yingyong/control theory and applications 2016年第10期33卷 1319-1326页

作者： Wei, Wei Li, Dong-Hai Zuo, Min Liu, Zai-Wen School of Computer and Information Engineering Beijing Technology and Business University Beijing100048 China Department of Thermal Engineering Tsinghua University Beijing100084 China

Piezoelectric actuator are commonly used in nanopositioning system. However, nonlinear and multivalue properties, i.e. hysteresis, of piezoelectric materials, which are commonly taken in piezoelectric actuators, will decrease the accuracy of nanopositioning systems. In order to remove the influence of hysteresis, nonlinear and multivalue properties are viewed as the disturbance of system. Active disturbance rejection control (ADRC), a control approach which does not depend on accurate model of hysteresis and nanopositioning system, is designed to achieve the desired control object. Extended state observer is employed to estimate hysteresis, and then it can be compensated in real time. Nice control performance is acquired in the numerical simulations. from the simulation results, we may see that ADRC is able to cancel hysteresis and improve the accuracy of nanopositioning system effectively. © 2016, Editorial Department of control theory & applications South China University of Technology. All right reserved.

关键词： Piezoelectric actuators

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Regional observer synthesis for locally Lipschitz non-linear systems

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IET control theory AND applications 2015年第16期9卷 2348-2356页

作者： Rehan, Muhammad Hong, Keum-Shik Pakistan Inst Engn & Appl Sci Dept Elect Engn Islamabad Pakistan Pusan Natl Univ Sch Mech Engn Busan 609735 South Korea Pusan Natl Univ Dept Cognomechatron Engn Busan 609735 South Korea

This study discusses a linear matrix inequality (LMI)-based observer design for locally Lipschitz non-linear systems that ensures an ellipsoidal region of stability in the estimation error, via a quadratic Lyapunov function analysis. An ellipsoidal Lipschitz region is defined in which a dynamical non-linearity satisfies the Lipschitz condition locally. First, to provide a state feedback stabilisation scheme, the region of stability in terms of state of a non-linear system is included in the ellipsoidal Lipschitz region, and LMIs are derived to ensure asymptotic stability. This novel state feedback stabilisation technique is broadened to the observer synthesis by defining a new region in the form of state estimation error, satisfying the ellipsoidal Lipschitz region. Further, under a bounded state operation, the region of convergence is included in the new region. Furthermore, a local robust observer synthesis methodology against bounded perturbations, for attaining multiple design objectives, is provided by ensuring the local exponential L-2 stability of the estimation error. The proposed methodologies' guaranteed regional stability, faster convergence, robustness against disturbances, ease of design, and computational simplicity make them superior from the traditional techniques. The results for the proposed schemes are validated by numerical simulations.

关键词： nonlinear control systems observers linear matrix inequalities Lyapunov methods control nonlinearities state feedback asymptotic stability control system synthesis regional observer synthesis locally Lipschitz nonlinear systems linear matrix inequality-based observer design ellipsoidal stability region state estimation error quadratic Lyapunov function analysis ellipsoidal Lipschitz region dynamical nonlinearity state feedback stabilisation scheme LMI local robust observer synthesis methodology multiple design objectives local exponential L-2 stability numerical simulations stabilisation controller design

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Utility of high-order sliding mode differentiators for dynamical left inversion problems

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IET control theory AND applications 2015年第4期9卷 538-544页

作者： Barbot, Jean Pierre Boutat, Driss Busawon, Krishna ENSEA ECS Lab EA 3649 F-95014 Cergy Pontoise France ENSI Bourges Lab PRISME F-18020 Bourges France Northumbria Univ Fac Engn & Environm Newcastle Upon Tyne NE1 8ST Tyne & Wear England

This study highlights some crucial issues related to dynamical left inversion problem for non-linear systems, that is the recovery of the applied input function from the knowledge of the output and its derivatives. In particular, it is shown that the presence of non-smooth unknown inputs and non-involutivity of the forced fields' distribution constitutes an obstruction to conducting a left inversion. As a solution to this problem, the authors propose a novel left-invertible form that explicitly considers smooth as well as non-smooth inputs and for which they design a high-order sliding mode observer to reconstruct the states and the control inputs. Simulations results are provided to validate the performance of the proposed approach.

关键词： variable structure systems nonlinear control systems observers high order sliding mode differentiators dynamical left inversion problems nonlinear systems forced fields distribution sliding mode observer

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On the estimation problem of a class of continuous bioreactors with unknown input

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JOURNAL OF PROCESS control 2015年 30卷 34-49页

作者： Moreno, Jaime A. Alvarez, Jesus Univ Nacl Autonoma Mexico Inst Ingn Coordinac Elect & Computac Mexico City 04510 DF Mexico

The estimation problem of substrate-biomass reactors with isotonic or nonisotonic growth is addressed. The unmeasured reactor and time-varying feed substrate concentrations must be estimated from the dilution rate input and biomass measurements. First, the solvability conditions (nonlinear-global observability or detectability) are characterized, finding that: (i) the conditions depend on particular motions and growth mechanisms, and (ii) with isotonic (or nonisotonic) growth, the unknown input-state pair is observable in the classical (or nonstandard) single-valued (S) [or bivalued (B)] sense. Then, a robustly convergent S (or B)-observer is designed accordingly. The S-observer yields the estimate of the only unmeasured input-state trajectory pair associated with the measured input-output signal. The B-observer yields the estimates of the two possible unmeasured input-state trajectory pairs associated with the measured input-output signal, each one satisfying the reactor mass balances. The developments and findings are illustrated with representative (Monod and Haldane) examples through analytic assessment and numerical simulation. (C) 2014 Elsevier Ltd. All rights reserved.

关键词： Bioprocesses and biosystems State and input estimation nonlinear observer design Unobservable systems Bioreactors

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Infinite-Dimensional observer for Process Monitoring in Managed Pressure Drilling 9

Infinite-Dimensional Observer for Process Monitoring in Mana...

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9th IFAC symposium on Advanced control of Chemical Processes ADCHEM 2015

作者： Hasan, Agus Norwegian Univ Sci & Technol Dept Engn Cybernet N-7034 Trondheim Norway

Utilizing flow rate and pressure data in and out of the mud circulation loop provides a driller with real-time trends for the early detection of well-control problems that impact the drilling efficiency. This paper presents state estimation for infinite-dimensional systems used in the process monitoring of oil well drilling. The objective is to monitor the key process variables associated with process safety by designing a model-based nonlinear observer that directly utilizes the available information coming from the continuous-time online process output measurements at the topside of the well. The observer consists of a copy of the plant plus output injection terms where the gain is computed analytically in terms of the Bessel function of the first kind. The design is tested using data from a real-field drilling commissioning test in the North Sea by Statoil Oil Company. The results show that the design estimates the flow and pressure accurately. (C) 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Process Monitoring State Estimation Distributed Parameter Systems nonlinear Systems control applications

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