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共 495 条记录，以下是141-150 订阅

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nonlinear controller design for Wall Inspection by a Quad Rotor Helicopter under Wind Disturbance 18

Nonlinear Controller Design for Wall Inspection by a Quad Ro...

引用

18th IEEE International Electronics symposium (IES)

作者： Tsan, Ting Uchiyama, Naoki Sawodny, Oliver Toyohashi Univ Technol Dept Mech Engn Toyohashi Aichi 4418580 Japan Univ Stuttgart Inst Syst Dynam D-70563 Stuttgart Germany

ISBN: (纸本)9781509016402

This paper proposes a nonlinear control system for a quad rotor helicopter that aims to conduct wall inspection. Because wind reaction from a wall is significant when a helicopter approaches to the wall for its inspection, a robust controller is required. Firstly, the dynamics are derived by the Newton-Euler approach. A reference model with a cascaded control loop system including an inner loop for linearization and an outer loop for stabilization is designed. The inner loop uses feedback linearization. The outer loop uses state feedback control and a prefilter for stabilizing the linearized and decoupled multiple input and multiple output (MIMO) system. Unknown wind disturbances are considered and compensated by using a combined state and disturbance observer. The reference model generates a reference input for an embedded controller of a real plant. This proposed control system directly integrates measured distance into a feedback loop. Simulation results show the effectiveness of the nonlinear controller and observer.

关键词： quadcopter feedback linearization nonlinear control disturbance compensation observer

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Analysis of the Use of Low-Pass Filters with High-Gain observers

Analysis of the Use of Low-Pass Filters with High-Gain Obser...

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10th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Khalil, Hassan K. Priess, Stephanie Michigan State Univ Dept Elect & Comp Engn 428 S Shaw Lane E Lansing MI 48824 USA

High-gain observers play an important role in the design of feedback control for nonlinear systems. One challenge in the use of high-gain observers is the effect of measurement noise. It is shown in the literature that the presence of measurement noise puts a constraint on how high the observer gain could be, which forces a trade-off between the fast convergence of state estimates and the error due to measurement noise. A number of techniques have been proposed in the literature to attenuate the effects of measurement noise on systems utilizing a high-gain observer. In experimental applications of high-gain observers, it is quite common to use a low-pass filter to filter out the high-frequency components of the noise before feeding the measurement into the observer. In this paper we analyze effect of measurement noise on high-gain observers when low pass filters are used. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： High-gain observers nonlinear systems Output feedback

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Hybrid nonlinear observer for Inertial Navigation 25

Hybrid Nonlinear Observer for Inertial Navigation

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25th IEEE International symposium on Industrial Electronics (ISIE)

作者： Alonge, F. D'Ippolito, F. Gargano, A. Sferlazza, A. Univ Palermo Dept DEIM Viale Sci I-90128 Palermo Italy

ISBN: (纸本)9781509008735

This paper considers the problem of designing an observer for navigation and localization of inertial systems. Since the measurement systems used in this field have a low update rate with respect to the control algorithm, the design of a suitable observer with sampled measurements is required. Here a hybrid non-linear observer is proposed, combining two different observers with different characteristics. A theoretical treatment is given in order to prove the convergence of the observer and it will be contextualized in the framework of the hybrid systems, providing an elegant setting for the proposed solution. Finally experimental results show the feasibility of the proposed observer and the good behaviors in terms of estimation error that can be achieved.

关键词： Hybrid observer inertial navigation sample-data systems

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Combination of observer/Kalman Filter Identification and Digital Redesign of observer-based Tracker for Stochastic Chaotic Systems

Combination of Observer/Kalman Filter Identification and Dig...

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International symposium on Computer, Consumer and control (IS3C)

作者： Chien, Tseng-Hsu Chen, Yeng-Chin Taiwan Shoufu Univ Dept Comp Sci & Multimedia Design Tainan Taiwan Asia Univ Dept Comp Sci & Informat Engn Taichung Taiwan

ISBN: (纸本)9781509030712

Based on the observer/Kalman filter Identification (OKID) and digital redesign of observer-based tracker method for a stochastic chaotic system. An additional digital redesign observer approach is now proposed to obtain a more accurate system identification model. Furthermore, this provides computationally effective initialization low-order observer parameters for the on-line nonlinear model system identification technique. Finally, the stochastic chaotic Chen's system is used as an illustrative example to demonstrate the effectiveness and excellence of the proposed methodology.

关键词： Identification digital redesign Stochastic chaotic system

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Feedback control of a Thermal Fluid Based on a Reduced Order observer

Feedback Control of a Thermal Fluid Based on a Reduced Order...

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10th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Hu, Weiwei Singler, John R. Zhang, Yangwen Univ Minnesota Inst Math & Its Applicat Minneapolis MN 55455 USA Missouri Univ Sci & Technol Dept Math & Stat Rolla MO 65409 USA

We discuss the problem of designing a feedback control law based on a reduced order observer, which locally stabilizes a two dimensional thermal fluid modeled by the Boussinesq approximation. We consider mixed boundary control for the Boussinesq equations in an open bounded and connected domain. In particular, the controllers are finite dimensional and act on a portion of the bounclary through Neumann/Robin boundary conditions. A linear Luenberger observer is constructed based on point observations of the linearized Boussinesq equations. The current setting of the system leads to a problem with unbounded control inputs and outputs. Linear Quadratic Gaussian (LQG) balanced truncation is employed to obtain the reduced order model for the linearized system The feedback law can be obtained by solving an extended Kalman filter problem. The numerical results show that the nonlinear system coupled with the reduced order observer through the feedback law is locally exponentially stable.

关键词： Feedback control

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Matlab Based Interactive Model of a Position Servo Drive

Matlab Based Interactive Model of a Position Servo Drive

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

作者： Belai, I. Huba, M. Slovak Univ Technol Bratislava Bratislava Slovakia

An interactive MATLAB based simulation tool is presented that may be used for verifying properties of several position control loops for electrical drives with a torque generator and position measurement by an incremental position sensor. The compared loops include cascade P-PI control with P controller in a position loop and PI controller in an underlying velocity loop, its filtered versions denoted as P-FPI and FP-FPI controls, and the solution with PD controller and disturbance observer (DO) using low pass filters in the disturbance observer and in the position feedback (DO-FPID). All controls may be supplemented by a feedforward to eliminate the error if a setpoint signal is continuous. As a default option the tool provides parameter tuning of all position controllers for a nearly equal integral of absolute error (IAE) of setpoint steps. Differences in the noise impact are highlighted by relative total variance of the input and output signals. The tool enables users an experimental way of discovering properties of particular loops. It exhibits high importance of appropriate filter design and shows that the solutions with the feedback filters may yield for both the nominal and uncertain situations the highest performance to noise impact (torque ripple) ratio. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Simulation model electric drive position cascade control observer feedforward

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Implementation of Super-Twisting control on Higher Order Perturbed Integrator System using Higher Order Sliding Mode observer

Implementation of Super-Twisting Control on Higher Order Per...

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10th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Kumari, Kiran Chalanga, Asif Bandyopadhyay, Bijnan Indian Inst Technol Syst & Control Engn Bombay 400076 Maharashtra India

This paper presents the implementation of super-twisting control (STC) on nth-order perturbed integrator system using higher order sliding mode observer (HOSMO). It is shown that if nth-order SMO is used, either super-twisting algorithm structure is not achieved using continuous controller or the resulting controller is discontinuous. The discontinuous control action is not desirable for practical applications. A method for implementing STC using (n+1)thorder SMO is proposed. The controller proposed based on this observer design is continuous. Sliding surface is designed for handling relative degree problem and the controller is designed such that second order sliding mode (SOSM) is achieved on the sliding surface. Simulation results are also shown using practical example of Insulin-Glucose regulation dynamical model to illustrate the effectiveness of the proposed method. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Higher order sliding mode observer Super-twisting control Higher order integrator system

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Smooth output feedback stabilization for nonlinear systems with time-varying powers

Smooth output feedback stabilization for nonlinear systems w...

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10th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Chen, Chih-Chiang Qian, Chunjiang Lin, Xiangze Liang, Yew-Wen Natl Chiao Tung Univ Inst Elect Control Engn Hsinchu 30010 Taiwan Univ Texas San Antonio Dept Elect & Comp Engn San Antonio TX 78249 USA Nanjing Agr Univ Coll Engn Jiangsu Key Lab Intelligent Agr Equipment Nanjing 210031 Jiangsu Peoples R China

This paper considers the global asymptotic stabilization problem for a class of nonlinear systems with time-varying powers. With only upper and lower bounds of the time-varying power, a smooth state feedback control law solving the problem is frst developed via the so-called adding a power integrator technique. When the system state is not fully available and the time-varying power is exactly known, a smooth output feedback control law constituted by a nonlinear state observer and a state feedback is constructed for achieving the stabilization task. In both cases, systematic approaches are explicitly presented for designing gains of control law and observer. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Global asymptotic stabilization high-order nonlinear systems time-varying power smooth output feedback adding a power integrator

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Temporal solution-based output observer design for single output LTI systems 4

Temporal solution-based output observer design for single ou...

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4th International symposium on Environmental Friendly Energies and Applications (EFEA)

作者： Canyelles-Pericas, P. Binns, R. Busawon, K. Univ Northumbria Newcastle Fac Engn & Environm Nonlinear Control Grp Newcastle Upon Tyne NE1 8ST Tyne & Wear England

ISBN: (纸本)9781509007486

In this paper, we present an output observer for single output linear time invariant (LTI) systems based on the temporal state solution of the system. The aim of an output estimator/observer is to reconstruct the output of the system for various purposes, namely fault detection, filtering and output stabilisation among others. A distinctive feature of this observer is that time variable is used as input in the observer equation. Proper transformations are employed to avoid the inversion of large matrices involved in the system's solution computation. Numerical simulations are presented with and without noise presence.

关键词： Output observer temporal solution-based observer linear case single output filtering fault detection output stabilisation

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A Backstepping Sliding Mode control for a Hydrostatic Transmission with Unknown Disturbances

A Backstepping Sliding Mode Control for a Hydrostatic Transm...

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10th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Sun, Hao Aschemann, Harald Univ Rostock Chair Mechatron D-18059 Rostock Germany

A robust backstepping control via second-order sliding mode for the speed tracking control of a hydrostatic transmission is presented in this paper. The proposed approach consists of a stabilising control action designed according to backstepping control techniques and a robust control term using a second-order sliding mode (SOSMC) approach, which is introduced to counteract the impact of uncertain system parameters as well as unknown disturbances. For the control implementation on a test bench of a hydrostatic transmission, to estimate unmeasurable system states and two lumped disturbances present in the system, the proposed controller is extended with a sliding mode observer. Both simulations and experimental results highlight the applicability of the proposed method. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： nonlinear robust control second-order sliding mode hydrostatic transmission sliding mode observer

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