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Simultaneous Estimation of Vehicle Lateral Dynamics and Driver Torque using LPV Unknown Input observer

Simultaneous Estimation of Vehicle Lateral Dynamics and Driv...

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Joint Meeting of the 2nd IFAC Workshop on Linear Parameter Varying Systems (LPVS) / 9th IFAC symposium on Robust control design (ROCOND)

作者： Anh-Tu Nguyen Guerra, Thierry-Marie Sentouh, Chouki Univ Valenciennes Lab LAMIH CNRS UMR 8201 Valenciennes France

This paper presents a new method to estimate simultaneously both the vehicle state and the driver torque. To take into account the time-varying nature of the longitudinal speed, the vehicle system is transformed into a polytopic LPV model with a reasonable level of numerical complexity. The design of the LPV unknown input observer is reformulated as an LMI-based optimization which can be effectively solved via semi-definite programming. Based on Lyapunov arguments, the closed loop of the state error dynamics is proved to be input-to-state stable while achieving a guaranteed L-infinity-gain performance. Numerical experiments obtained with a nonlinear vehicle system are provided to demonstrate the effectiveness of the proposed observer design. (C) 2018, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Vehicle dynamics driver torque estimation LPV systems unknown input observer H-infinity-gain performance linear matrix inequality (LMI)

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An Enhanced Phase-Locked Loop with Extended State observer

An Enhanced Phase-Locked Loop with Extended State Observer

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Power Electronics (Ee)

作者： Baoling Guo Seddik Bacha Mazen Alamir Cédric Boudinet Hugo Mesnage Univ. Grenoble Alpes CNRS Grenoble INP Institute of Engineering G2elab Grenoble France Supergrid Institute SAS Villeurbanne France Univ. Grenoble Alpes CNRS Grenoble INP Institute of Engineering GIPSA-Lab Saint Martin D'Hères France

This paper aims at enhancing the robustness and the disturbance rejection ability of a Phase-Locked Loop (PLL). An Extended State observer (ESO)-based controller is implemented into the loop filter for this purpose. Firstly, the total unpredictable disturbances (phase jumps, frequency variations, nonlinear dynamics, etc.) are estimated by the ESO. Then, the observed generalized disturbances are actively compensated into the closed-loop dynamics in real-time, and the dynamic behaviours and its robustness are thus enhanced. Besides, the proposed strategy is simple to design and implement for practical engineers. Simulations and experimental results are both provided to verify its effectiveness.

关键词： Phase locked loops Robustness Voltage control Bandwidth observers Frequency control Synchronization

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Combined fuzzy and nonlinear dynamic observer for vehicle longitudinal velocity and side-slip angle 11

Combined fuzzy and nonlinear dynamic observer for vehicle lo...

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11th International symposium on Mechatronics and its Applications, ISMA 2018

作者： Bardawil, Carine Daher, Naseem Electrical and Computer Engineering Department American University of Beirut Beirut Lebanon

ISBN: (纸本)9781538610787

The knowledge of vehicle's speed at the center of gravity, as well as the vehicle sideslip angle is of high importance. These dynamic variables along with several others play a vital role in active safety systems and advanced chassis control applications. However, they are not readily measured on production automobiles via standard and inexpensive sensors. In this work, the estimation of these critical vehicle states was addressed in a newly proposed scheme that requires no incremental hardware, and is of reduced complexity compared with existing work in literature since the need of large matrices inversion is omitted as well as the need for re-tuning the observer parameters in accordance with the driving situation. A combined fuzzy logic estimator is elaborated for the longitudinal speed and a nonlinear 3 degrees of freedom dynamic model is used in the design of the sideslip observer. The proposed estimation approach is implemented in MATLAB/Simulink ® and the predicted variables are compared to the outputs of CarSim ®. A dual lane change maneuver was conducted at varying longitudinal speeds, the estimator demonstrated accuracy and rapidly traced the true values of the vehicle states. © 2018 IEEE.

关键词： Vehicles

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Performance Index for Optimizing Sensor Fault Detection of a Class of nonlinear Systems

Performance Index for Optimizing Sensor Fault Detection of a...

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10th International-Federation-of-Automatic-control (IFAC) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Reppa, Vasso Timotheou, Stelios Polycarpou, Marios M. Panayiotou, Christos Univ Cyprus Dept Elect & Comp Engn KIOS Res & Innovat Ctr Excellence CY-1678 Nicosia Cyprus

This paper develops a performance index that can be used to find the optimal design parameters of the observer-based residual generator and adaptive threshold of a fault detection scheme for a class of nonlinear systems. The performance of the fault detection scheme is analyzed with respect to the fault detectability of incipient sensor faults, which depends on the dynamic behavior of the residual and the adaptive threshold generator. The proposed performance index is based on the distance between two limit sets that are guaranteed to include the residual under fault-free and faulty conditions. The novelty of this distance metric stems from the parametrization of the limit sets in relation to (i) the design parameters of both the residual generator and adaptive threshold, (ii) the bounds on the system disturbances and measurement noise, and (iii) the fault function and evolution rate. An optimization problem is formulated for finding the design parameters of the fault detection scheme such that the set of guaranteed strongly detectable faults is maximized, where this set is defined based on the distance between the separated fault-free and faulty limit set. (C) 2018, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Detectability analysis fault detection sensor faults nonlinear systems residual generator adaptive threshold observer

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Robust observer-Based Piecewise Multi-Linear controller design for nonlinear Systems

Robust Observer-Based Piecewise Multi-Linear Controller Desi...

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International symposium on Soft Computing and Intelligent Systems (SCIS)

作者： Tadanari Taniguchi Michio Sugeno IT Education Center Tokai University Hiratsuka Kanagawa JAPAN Tokyo Institute of Technology Kanagawa Yokohama JAPAN

ISBN: (纸本)9781538626344;9781538626337

This paper proposes a robust observer-based piecewise multi-linear (PML) controller design using an observer linearization. The model is a nonlinear approximation and fully parametric. Feedback linearization is applied to stabilize the PML control system. However it is difficult to design the observer-based control system because the control system via observer linearization is not robust to modeling errors and perturbations. This paper shows the robust observer-based controller stabilizes TORA (Translational Oscillator with Rotating Actuator) system, which is one of the benchmark problem for nonlinear control. Examples are shown to confirm the feasibility of our proposals by computer simulation.

关键词： observers nonlinear systems Feedback linearization Computational modeling Oscillators Actuators

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Regulation of soil moisture using zone model predictive control

Regulation of soil moisture using zone model predictive cont...

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10th IFAC symposium on Advanced control of Chemical Processes (ADCHEM)

作者： Mao, Yawen Liu, Su Nahar, Jannatun Liu, Jinfeng Ding, Feng Univ Alberta Dept Chem & Mat Engn Edmonton AB T6G 2V4 Canada Jiangnan Univ Sch Internet Things Engn Key Lab Adv Proc Control Light Ind Wuxi 214122 Peoples R China

This paper concerns the input-output model identification and zone model predictive control of an agro-hydrological system modeled by a partial differential equation. The primary control objective is to maintain the soil moisture within a desired range which is suitable for grass grow. There is also a secondary control objective which is to reduce the total irrigation amount. First, a linear parameter varying (LPV) model is identified for controller design purpose using a maximum likelihood gradient-based iterative estimation method. Then, based on the LPV model, a zone model predictive control (MPC) is designed which uses an output disturbance and state observer to reduce model-plant mismatch and an asymmetric target zone to reduce irrigation amount under weather uncertainties while maintaining the soil moisture within the target range. Simulation studies show that the LPV model is a good approximation of the original nonlinear model and effectively reduces the online computational load of the MPC, and that the proposed zone MPC can lead to significant water conservation. (C) 2018, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Agro-hydrological system Linear parameter varying model Model predictive control Zone control

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Adaptive gain nonlinear observer design techniques 6th

Adaptive gain nonlinear observer design techniques

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6th International symposium on Advanced control of Industrial Processes (AdCONIP)

作者： Guay, M. Queens Univ Dept Chem Engn Kingston ON K7L 3N6 Canada

ISBN: (纸本)9781509043972

In this study, two novel observer design techniques are proposed in which the observer gain is computed in real-time using online gain updates. First, an adaptive Luenberger observers is proposed. The approach borrows from the application of Chandrasekhar-type algorithms that are amenable to the design of an adaptive gain approach to the design of Luenberger observers. Second, an extremum-seeking control based observer is proposed. This approach provides an effective unstructured approach to compute observer gains for a general class of detectable nonlinear systems. Both approaches avoid the need for the computation of a solution of a Riccati equation or its nonlinear counterpart.

关键词： observers nonlinear systems Heuristic algorithms Kalman filters Algorithm design and analysis Riccati equations Standards

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

Trajectory Tracking Controller Design for a Quadrotor Aircra...

引用

IEEE International symposium on Industrial Electronics

作者： Wen-Tao Xue Shao-Jun Tao Xiao-Fei Yang School of Electronics and Information Jiangsu University of Science and Technology Zhenjiang China

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 mode control nonlinear observer

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

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

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International symposium on Computational Intelligence and design, ISCID

作者： Zhuohang Ye Xiaobing Mao Hai Huang Wuhan University of Technology School of Energy and Power Engineering Wuhan China

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： Oils Viscosity Fuels Heating systems Fuel storage

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Prescribed Performance control for Consensus Output Tracking of nonlinear Systems

Prescribed Performance Control for Consensus Output Tracking...

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IEEE International symposium on Industrial Electronics (ISIE)

作者： Zi-Jiang Yang Department of Intelligent Systems Engineering Ibaraki University Hitachi Ibaraki Japan

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： Backstepping Disturbance observers Multi-agent systems Trajectory nonlinear systems Explosions

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