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Predictive Active Disturbance Rejection control for Insulin Infusion in Patients with T1DM 7

Predictive Active Disturbance Rejection Control for Insulin ...

7th IFAC symposium on System Structure and control (SSSC) jointly held with the 15th IFAC Workshop on Time Delay Systems (TDS)

作者： Carreno-Zagarra, J. J. Villamizar, R. Moreno, J. C. Guzman, J. L. Univ Ind Santander Bucaramanga 680002 Colombia Univ Santo Tomas Fac Ingn Mecatron Bucaramanga 680011 Colombia Univ Almeria CIESOL Almeria 04120 Spain

This paper presents an active disturbance rejection control scheme to automatically regulate the glucose level in type 1 diabetic patients. Although the blood glucose system is nonlinear, in this control approach, it is represented as a linear perturbed system, whose lumped disturbance input is estimated by an Extended State observer (ESO) and then compensated by an robust controller tuned with Quantitative Feedback Theory (QFT). The robust control scheme uses a Smith predictor for the time delay compensation and allows taking into account the inter-patient variability presented in the glucose control problem. In order to validate the effectiveness of this approach, the controller is tested in silico on a cohort of adult patients of the UVA/Padova metabolic simulator, which has been accepted by the Food and Drug Administration (FDA). In silico results indicate that safe blood glucose control can be achieved by the proposed controller. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Glucose control Time delay Active Disturbance Rejection control Smith Predictor Quantitative Feedback Theory (QFT) Uncertainty

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Prescribed Performance control for Consensus Output Tracking of nonlinear Systems 27

Prescribed Performance Control for Consensus Output Tracking...

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27th IEEE International symposium on Industrial Electronics (ISIE)

作者： Yang, Zi-Jiang Ibaraki Univ Dept Intelligent Syst Engn Coll Engn 4-12-1 Nakanarusawa Hitachi Ibaraki 3168511 Japan

ISBN: (纸本)9781538637050

In this work, we consider the distributed consensus output tracking problem for a class of nonlinear systems. The systems are under a directed communication graph, where the leader node is the root. The controller is designed in a backstepping manner, and to avoid the shortcoming of "explosion of terms", low-pass filters are adopted to avoid direct differentiation. At each step of the virtual controller design, a prescribed performance controller is constructed to achieve prescribed transient performance so that the system states remain in the feasible domain. Then each virtual controller is enhanced by a finite-time disturbance observer which estimates the disturbance term in a finite-time. The properties of the control system are analyzed theoretically. And the performance of the proposed methods is confirmed by numerical examples.

关键词： Finite-time disturbance observer backstepping design consensus output tracking semi-strict feedback system prescribed performance control

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design of interval observers and controls for PDEs using finite-element approximations

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AUTOMATICA 2018年 93卷 302-310页

作者： Kharkovskaya, Tatiana Efimov, Denis Polyakov, Andrey Richard, Jean-Pierre Ecole Cent Lille CRIStAL UMR CNRS 9189 BP 48 F-59651 Villeneuve Dascq France ITMO Univ Dept Control Syst & Informat 49 Kronverkskiy Av St Petersburg 197101 Russia Non A Team Inria Parc Sci Haute Borne40 Av Halley F-59650 Villeneuve Dascq France

Synthesis of interval state estimators is investigated for the systems described by a class of parabolic Partial Differential Equations (PDEs). First, a finite-element approximation of a PDE is constructed and the design of an interval observer for the derived ordinary differential equation is given. Second, the interval inclusion of the state function of the PDE is calculated using the error estimates of the finite-element approximation. Finally, the obtained interval estimates are used to design a dynamic output stabilizing control. The results are illustrated by numerical experiments with an academic example and the Black-Scholes model of financial market. (C) 2018 Elsevier Ltd. All rights reserved.

关键词： Interval observers PDE Finite-element approximation

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Trajectory Tracking controller design for a Quadrotor Aircraft Based on Cascade Sliding Mode control 27

Trajectory Tracking Controller Design for a Quadrotor Aircra...

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27th IEEE International symposium on Industrial Electronics (ISIE)

作者： Xue, Wen-Tao Tao, Shao-Jun Yang, Xiao-Fei Jiangsu Univ Sci & Technol Sch Elect & Informat Zhenjiang Jiangsu Peoples R China

ISBN: (纸本)9781538637050

This study proposes a cascade sliding mode control (CSMC) method to achieve trajectory tracking control of a quadrotor aircraft in a finite time. Firstly, the quadrotor control system is a hierarchical structure consisting of position and attitude loops. A sliding mode control with fast double power reaching law and a nonsingular fast terminal sliding mode control method are introduced to guarantee that the position and attitude errors of all system state variables converge to zero in finite-time. Meanwhile, the sliding mode controllers are designed to eliminate the chattering phenomenon and realize the high tracking precision. In addition, a disturbance estimator and a nonlinear disturbance observer are respectively employed in the above two controllers to compensate external disturbances and parameter uncertainties to obtain a better disturbance rejection property. Furthermore, the stability of the overall trajectory tracking system is analyzed and the sufficient stability conditions are derived based on Lyapunov theory. Finally, Simulation results verify the effectiveness and robustness of the proposed control method.

关键词： quadrotor trajectory tracking cascade sliding erode control nonlinear observer

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Research on Co-design between Security control and Communication for a Class of nonlinear CPS under Cyber Attack

Research on Co-Design between Security Control and Communica...

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Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS), CAA symposium on

作者： Li Zhao Wei Li Yajie Li Yahong Shi Key Laboratory of Gansu Advanced Control for Industrial Processes Lanzhou University of Technology Lanzhou China National Demonstration Center for Experimental Electrical and Control Engineering Education Lanzhou University of Technology Lanzhou China

ISBN: (数字)9781728106816

ISBN: (纸本)9781728106823

The co-design problem is studied for a class of nonlinear CPS under cyber attack, physical component failure and limited communication resources by introducing DETCS. Firstly, in the circumstances of cyber attack and physical component failure, the defense idea of active fault-tolerant combine with passive attack-tolerant is developed, and on the basis, a nonlinear CPS security control model is established that integrates trigger condition, actuator fault and cyber attack. Secondly, based on time delay system theory, the design of robust attack-tolerant observer which can estimate the being attack state and fault in real time, as well as a method of co-compute between fault-tolerant, attack-tolerant controller, the event trigger matrix are obtained respectively. Thus, the goals of active fault-tolerant, passive attack-tolerant control and the method of saving cyber communication resource are given. Finally, a simulation example is given to verify the effectiveness and feasibility of the theoretical research.

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Investigation of a Fuel Oil Viscosity and Temperature control System Based on State Observation 11

Investigation of a Fuel Oil Viscosity and Temperature Contro...

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11th International symposium on Computational Intelligence and design (ISCID)

作者： Ye, Zhuohang Mao, Xiaobing Huang, Hai Wuhan Univ Technol Sch Energy & Power Engn Wuhan Hubei Peoples R China

ISBN: (纸本)9781538685273

To address the contradiction between simultaneous fixed-value control of heavy oil temperature and viscosity in current fuel viscosity and temperature control systems, this study analyzes the operating process and principle of heavy oil heating used in ocean vessels, and derives a differential equation for a fuel oil viscosity and temperature control system based on state observation. Using inlet and outlet temperatures as the state variables and heavy oil viscosity as the output variable, the system can be treated as a kind of affine nonlinear system, with coordinate transformation function vectors determined so as to derive the sliding mode variable structure form of the state observer. Finally, some programs were compiled for calculation and simulation using MATLAB. The results showed that, by using a sliding mode variable structure control, state variables could be tracked well during the control of output variables. This confirmed the superiority of output feedback control based on a model of the state observer.

关键词： viscosity and temperature control state observation affine nonlinearity transformation of coordinates calculation and simulation sliding mode variable structure control output feedback

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nonlinear observers for a Class of Neuronal Oscillators in the Presence of Strong Measurement Noise 15th

Nonlinear Observers for a Class of Neuronal Oscillators in t...

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15th International symposium on Neural Networks (ISNN)

作者： Perez, Julio Tang, Yu Grave, Ileana Tech Univ Munich Inst Automat Control Fac Mech Engn D-85748 Garching Germany Univ Nacl Autonoma Mexico Fac Engn Mexico City 04360 DF Mexico

ISBN: (纸本)9783319925370;9783319925363

The objective of this paper is to design observers for a class of neuronal oscillators on the one hand, and to give a comparative study of the observer performance as the number of synchronized observer increases, on the other hand. More specifically, we apply the methodology of observer design in [4] for a class of neural oscillators. Contraction tool [7] is applied to obtain an exponentially convergent reduced-order observer, which serves as a building-block to construct a complete-order observer when the output is corrupted by moderate level of noise. In presence of strong measurement noise, several identical complete-order observers are coupled to synchronize.

关键词： observer Neuro-oscillator Contraction theory Synchronization

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Differential Steering Based Yaw Stabilization Using ISMC for Independently Actuated Electric Vehicles

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 2018年第2期19卷 627-638页

作者： Hu, Chuan Wang, Rongrong Yan, Fengjun Huang, Yanjun Wang, Hong Wei, Chongfeng Univ Waterloo Dept Syst Design Engn Waterloo ON N2L 3G1 Canada Shanghai Jiao Tong Univ Sch Mech Engn Shanghai 200240 Peoples R China McMaster Univ Dept Mech Engn Hamilton ON L8S 4L8 Canada Univ Waterloo Dept Mech & Mechatron Engn Waterloo ON N2L 3G1 Canada

Differential drive assistance steering (DDAS) is an emerging assisted steering mechanism in in-wheel-motor driven (IWMD) electric vehicles, yielded by the differential moment of the front tires in the steering system. DDAS can steer the front wheels when there is no steering power from the steering motor, and thus can be used as a redundant steering mechanism. To realize the yaw control when the active front steering entirely breaks down and guarantee the transient control performance therein, this paper proposes an integral sliding mode control (ISMC) approach for IWMD electric vehicles steered by DDAS. Two contributions are made in this paper: 1) An improved disturbance observer based ISMC strategy is designed to cope with the unknown mismatched disturbances, and the composite nonlinear feedback technique is employed to design the nominal part of the controller to restrain overshoots and remove steady-state errors considering the tire force saturations;2) An adaptive super-twisting control approach is proposed to deal with the disturbances with unknown boundaries using a continuous controller while eliminating the chattering effect. The system stability and robustness are proved via Lyapunov approach. CarSim-Simulink simulation has verified the effectiveness of the proposed control approach in the case of the steering fault.

关键词： Electric vehicles differential drive assistance steering disturbance observer transient control

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nonlinear observer with observability-based parameter adaptation for vehicle motion estimation

Nonlinear observer with observability-based parameter adapta...

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18th IFAC symposium on System Identification (SYSID)

作者： Marco, Vicent Rodrigo Kalkkuhl, Jens Seel, Thomas Tech Univ Berlin Control Syst Grp Dept Elect Engn & Comp Sci D-10587 Berlin Germany Daimler AG Res & Dev D-71059 Sindelfingen Germany

In the framework of self-driving cars and driver-assistance systems the demand for reliable information about the vehicle ego-motion is increasing. This paper describes an estimation scheme, based on a nonlinear observer design, that provides velocity and attitude angle estimates. The approach relies on a state-affine representation of a kinematic model bolstered by a dynamic model-based measurement equation. By means of a thorough observability analysis, global exponential convergence is theoretically guaranteed. Additionally, in order to minimize the errors introduced by the dynamic model limitations, an observer tuning rule is proposed. The adaptation of the tuning parameters is built upon an online observability assessment of the system without the support of the dynamic model. Experimental results show that the presented approach reliably estimates the motion states. (C) 2018, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Motion estimation observability automobile industry nonlinear systems

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Sampled-Data Based State and Parameter Estimation for State-Affine Systems with Uncertain Output Equation

Sampled-Data Based State and Parameter Estimation for State-...

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18th IFAC symposium on System Identification (SYSID)

作者： Ahmed-Ali, Tarek Tiels, Koen Schoukens, Maarten Giri, Fouad Univ Caen Normandie ENSICAEN F-14032 Caen France Uppsala Univ Dept Informat Technol Uppsala Sweden Eindhoven Univ Technol Control Syst Eindhoven Netherlands

The problem of sampled-data observer design is addressed for a class of state- and parameter-affine nonlinear systems. The main novelty in this class lies in the fact that the unknown parameters enter the output equation and the associated regressor is nonlinear in the output. Wiener systems belong to this class. The difficulty with this class of systems comes from the fact that output measurements are only available at sampling times causing the loss of the parameter-affine nature of the model (except at the sampling instants). This makes existing adaptive observers inapplicable to this class of systems. In this paper, a new sampled-data adaptive observer is designed for these systems and shown to be exponentially convergent under specific persistent excitation (PE) conditions that ensure system observability and identifiability. The new observer involves an inter-sample output predictor that is different from those in existing observers and features continuous trajectories of the state and parameter estimates. (C) 2018, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Adaptive observer Sampled-data nonlinear systems

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