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10th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Gamiochipi, J. Ghanes, M. Aggoune, W. DeLeon, J. Barbot, J-P. Lab Quartz EA 73913 Cergy France

The problem of state reconstruction from input and output measurements for nonlinear time delay systems remain open in many cases. In this paper we propose an adaptive observer to solve this problem for a class of unknown variable time-delay nonlinear systems where the state matrix depends on the input persistency excitation. To achieve this we combine the use of a Kalman-like observer with a suitable choice for the Lyapunov-Krasovskii functional. This is done under a sufficient number of hypothesis to guarantee the convergence of the observer inside a sphere depending of the delay upper bound. The proposed strategy is tested in simulation by considering a mixed piece-wise and sinusoid time delay function and its efficiency when the problem of persistency excitation occurs. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： nonlinearity Robust observers Time-Delay Lyapunov Function

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Event-Triggered Observation of nonlinear Lipschitz Systems via Impulsive observers

Event-Triggered Observation of Nonlinear Lipschitz Systems v...

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10th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Etienne, Lucien Di Gennaro, Stefano Univ Aquila Dept Informat Engn Comp Sci & Math Via Vetoio I-67100 Laquila Italy Univ Aquila Ctr Excellence DEWS Via Vetoio I-67100 Laquila Italy

In this paper we investigate the observation problems for a class of nonlinear Lipschitz systems, subject to network constraints. In order to address this problem, an impulsive observer is designed, making use of the eventtriggered technique in order to diminish the network usage. The proposed observer ensures practical state estimation. The output sampling is done on a periodic basis, but the data transmission is regulated by an eventtriggering mechanism. The performance of the observer is tested in simulations of a flexible joint. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Impulsive observer Event triggered sampling nonlinear systems

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design of a Robust Lipschitz observer - Application to monitoring of culture of micro-algae Scenesdesmus obliquus

Design of a Robust Lipschitz Observer - Application to monit...

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11th IFAC symposium on Dynamics and control of Process Systems including Biosystems

作者： Feudjio, Christian Bogaerts, Philippe Deschenes, Jean-Sebastien Vande Wouwer, Alain Univ Mons Automat Control Lab B-7000 Mons Belgium Univ Brussels Modeling & Control Bioproc 3BIO Brussels Belgium Univ Quebec Rimouski PQ Canada

In this study, application of Lipschitz observers to the monitoring of cultures of micro-algae in photo-tors is investigated. To design the observer, the dynamic model has to be structured into an observable linear part and a nonlinear Lipschitz part. A systematic method is proposed for the definition of the linear part, so as to ensure that it is stable and observable. The observer is tested in a real-life application, namely cultures of micro-algae Scenesdesmus obliquus, where the internal quota has to be estimated from either biomass measurements only or biomass and medium substrate concentrations. The Lipschitz observer shows robust performance, as compared to the extended Kalman filter. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： state estimation observers nonlinear systems observability biotechnology

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A nonlinear Model-Based Wind Velocity observer for Unmanned Aerial Vehicles

A Nonlinear Model-Based Wind Velocity Observer for Unmanned ...

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10th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Borup, Kasper T. Fossen, Thor I. Johansen, Tor A. Norwegian Univ Sci & Technol Dept Engn Cybernet N-7491 Trondheim Norway

This paper presents an exponentially stable nonlinear wind velocity observer for fixed-wing unmanned aerial vehicles (UAVs). The observer uses a model of the aircraft combined with a GNSS-aided inertial navigation system (INS). The INS uses an attitude observer together with a pitot static probe measuring dynamic pressure in the longitudinal direction as well as the airspeed. The observer is able to estimate the wind velocity and from this compute the relative velocity, which directly contains information about the angle of attack (AOA) and sideslip angle (SSA). The nonlinear observer is also able to estimate the scaling factor of the pitot static probe measurement and there are no requirements on persistence of excitation (PE) of the UAV maneuvers. The computational footprint is smaller than the conventional Kalman filter, which makes the algorithm well suited for embedded systems. The designed observer is proven exponentially stable under stable flight and through simulations it is verified that the estimates converge to the true values of a realistic wind velocity when there are no model errors. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved..

关键词： nonlinear observers Wind Velocity Unmanned Aerial Aiehicles Inertial Navigation Systems

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Three-Tank Virtual Laboratory for Input Saturation control Based on Matlab

Three-Tank Virtual Laboratory for Input Saturation Control B...

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11th IFAC symposium on Advances in control Education (ACE)

作者： Bistak, P. Huba, M. Slovak Univ Technol Bratislava Bratislava Slovakia

This paper offers an extension of previously developed Matlab/Simulirik tool for computer support of the controller design with input constraints applied to different configuration of nonlinear hydraulic plants. The recently released application can run locally, or through the Internet as a virtual laboratory. The newly developed options extend the existing configurations of the hydraulic plant by the case of three-tank system with feedback control respecting control constraints. The designed Matlab/Simulink interface enables also to include a nonlinear disturbance observer and compare the influence of disturbances and parameter uncertainties. The developed application with all the previous configurations included now represents a Complex tool for learning Support of a constrained nonlinear control system design. (C) 2016. IFAC (Internatioilal rederation of Automatie control) Hostieg by Elsevier Ltd. All rights reserved.

关键词： nonlinear control feedback linearization input saturation disturbance observer Matlab/Simulink interactive tool Internet application

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Adaptive neural networks output feedback dynamic surface control design for MIMO pure-feedback nonlinear systems with hysteresis

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NEUROCOMPUTING 2016年 198卷 58-68页

作者： Li, Yongming Li, Tieshan Tong, Shaocheng Liaoning Univ Technol Dept Basic Math Jinzhou 121001 Liaoning Peoples R China Dalian Maritime Univ Nav Coll Dalian 116026 Liaoning Peoples R China

An adaptive neural networks (NNs) output feedback tracking control approach is proposed for a class of multi-input and multi-output (MIMO) pure-feedback nonlinear systems with unknown backlash-like hysteresis and immeasurable states. Radial basis function neural networks (RBF NNs) are utilized to approximate the unknown nonlinear functions of the controlled systems, and a state observer is designed to estimate the unmeasured states. The filtered signals are introduced to circumvent algebraic loop problem encountered in the implementation of the controller, and an adaptive compensation technique are used to solve the problem of unknown backlash-like hysteresis. Based on the designed state observers, and combining the backstepping and dynamic surface control (DSC) techniques, an adaptive NN output feedback tracking control approach is developed. The proposed method not only overcomes the problem of "explosion of complexity" inherent in the backstepping control design but also guarantees that all the signals of the closed-loop system are semi-globally uniformly ultimately bounded (SGUUB) and the tracking errors converge to a small neighborhood of the origin. Two simulation examples are provided to show the effectiveness of the proposed approach. (C) 2016 Elsevier B.V. All rights reserved.

关键词： MIMO pure-feedback nonlinear systems Adaptive neural networks control Output feedback control Dynamic surface control Unknown backlash-like hysteresis

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Sensitivity to High-Frequency Measurement Noise of nonlinear High-Gain observers

Sensitivity to High-Frequency Measurement Noise of Nonlinear...

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10th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Astolfi, Daniele Marconi, Lorenzo Praly, Laurent Teel, Andrew Univ Bologna Bologna Italy Ecole Mines Foutainebleau France Univ Calif Santa Barbara Santa Barbara CA 93106 USA

This paper deals with the characterisation of the sensitivity to high-frequency measurement noise of nonlinear high-gain observers. The proposed tool provides bounds for the steady-state estimate in presence of noise when the high-gain parameter characterising the speed of convergence of the observer is fixed. The nonlinear analysis captures the effect of the noise frequency showing the "low-pass" filtering properties of the observer.

关键词： nonlinear analysis

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Cascade observer design for a class of nonlinear uncertain systems: Application to bioreactor

Cascade observer design for a class of nonlinear uncertain s...

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11th IFAC symposium on Dynamics and control of Process Systems including Biosystems

作者： Hernandez-Gonzalez, O. Menard, T. Targui, B. Farza, M. M'Saad, M. Astorga-Zaragoza, C. -M. UNICAEN UMR 6072 Grp Rech Informat Image Automat & Instrumentat 6 Blvd Marechal Juin F-14050 Caen France CENIDET Ctr Nacl Invest & Desarrollo Tecnol Internado Palmira S-N Cuernavaca 62490 Morelos Mexico

The present work proposes a state observer with a cascade structure for a class of nonlinear systems in the presence of uncertainties in the state equations and an arbitrarily long delay in the output. The first system in the cascade allows to estimate the delayed state while each of the remaining systems is a predictor. Each predictor estimates the state of the preceding one with a prediction horizon equal to a fraction of the time delay in such a way that the state of the last predictor is an estimate of the system actual state. The design of the observer is achieved by assuming a set of conditions under which the ultimate boundedness of the estimation error is established. It is in particular shown that in the absence of uncertainties, the observation error converges exponentially to zero. In the presence of uncertainties, the asymptotic observation error remains in a ball which radius depends on the delay magnitude and can be decreased by appropriately choosing the cascade length and the observer design parameters. The performance of the proposed observer and its main properties are highlighted through a typical bioreactor model. (C) 2016, IFAC (International Federation of Antomatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： delayed output uncertain system cascade observer high gain observer

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Observabilty singularities and observer design: dual immersion approach

Observabilty singularities and observer design: dual immersi...

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10th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Langueh, K. A. A. Datcu, O. Barbot, J-P Zheng, G. Busawon, K. INRIA EPI Non A Lille Nord Europe France Univ Politehn Bucuresti Fac Elect Telecommun & Informat Technol Bucharest Romania ENSEA IPGP QUARTZ Lab 6 Ave Ponceau F-95014 Cergy Pontoise France Northumbria Univ Newcastle Upon Tyne Tyne & Wear England

It is well-known that, for nonlinear systems, the observability is often only a local property and depends on the input. Moreover, it is often required that the observer be of the same dimension as the original system. A direct consequence of this requirement is that it enlarges the set of observability singularities. If, on one hand, it is impossible to observe the state variables that are structurally unobservable, it is, however, possible to overcome the observability singularities introduced by the constraints on the observer design. In this paper, we propose a novel dual immersion method which allows to reduce the set of observability singularities. In addition, a step by step design of a high order sliding mode observer based on the proposed dual immersion approach is presented. Finally, a thorough analysis and discussion on the simulation results with respect to a non-autonomous system is given. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Observability

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Interval observers for nonlinear Systems with Appropriate Output Feedback 2

Interval Observers for Nonlinear Systems with Appropriate Ou...

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2nd SICE International symposium on control Systems (ISCS)

作者： Ito, Hiroshi Dinh, Thach Ngoc Kyushu Inst Technol Dept Syst Design & Informat Kitakyushu Fukuoka Japan

ISBN: (纸本)9784907764531

The problem of designing interval observers for nonlinear systems exposed to disturbances is addressed in this paper. Intervals in which components of the state vector reside in are estimated by the interval observer consisting of two Luenberger-type observers making use of the information of the range of the initial state and the disturbances. The main feature of the proposed method is to encompass a larger class of nonlinearities than previously existing approaches. This paper demonstrates that an integral input-to-state stability (iISS) framework not only accomplishes this goal, but also provides us with robustness of convergence with respect to the disturbances.

关键词： Interval observer nonlinear systems Lyapunov functions Guaranteed state estimation

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