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检索条件"任意字段=Symposium on Nonlinear Control and Observer Design"

共 495 条记录，以下是151-160 订阅

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Reaction variants and invariants based observer and controller design for CSTRs

Reaction variants and invariants based observer and controll...

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

作者： Zhao, Zixi Wassick, John M. Ferrio, Jeff Ydstie, B. Erik Carnegie Mellon Univ Pittsburgh PA 15213 USA Dow Chem Co USA Midland MI 48674 USA

This work shows that kinetic information is not needed to estimate states (compositions) and control continuous stirred tank reactors (CISTRs). An asymptotic observer is developed using reaction irtvariants to provide on-line estimates of urmeasured compositions. The estimates are used in a feedback controller, based on inventory control theory, to control compositions and reactor temperature. The dynamics of the reaction system are reduced using reaction variants and invariants. The reaction rates are estimated through differentiation of reaction variants, such that no kinetic information is required. An example of a serial reaction in a CSTR illustrates the theoretical results and the performance of the proposed adaptive control approach. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： nonlinear control Reaction variants and invariants CSTR Inventory control Adaptive control

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Hybrid observer for improved transient performance of a marine vessel in dynamic positioning

Hybrid observer for improved transient performance of a mari...

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10th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Brodtkorb, Astrid H. Vaerno, Svenn A. Teel, Andrew R. Sorensen, Asgeir J. Skjetne, Roger Norwegian Univ Sci & Technol NTNU Ctr Autonomous Marine Operat NTNU AMOS Dept Marine Technol Otto Nielsens Vei 10 N-7491 Trondheim Norway Univ Calif Santa Barbara Dept Elect & Comp Engn Santa Barbara CA 93106 USA

Dynamic positioning (DP) systems are used on marine vessels for automatic station keeping and tracking operations solely by use of thrusters. observers are key components of DP systems, and two main types are proposed in this paper. The model-based type is used in steady state conditions since it is especially good at filtering out first order wave induced motions and predicting states in the case of signal loss, and the signal-based type typically has superior performance during transients. In this paper a hybrid observer including a signal-based part and a model-based part with a performance monitoring function is proposed. The observer part that provides the best estimate of the vessel position and heading is used in closed-loop control, thereby allowing for improved transient response while maintaining good steady-state performance. The contributions of this paper include the design of a hybrid signal-based and model-based observer with performance monitoring, stability analysis of the vessel with hybrid estimates in output feedback control, and simulations of a platform supply vessel during a set point and heading change. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Dynamic positioning observers hybrid systems output feedback control

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Fault detection using adaptive thresholds for nonlinear systems: A Preserving order observer approach

Fault detection using adaptive thresholds for nonlinear syst...

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10th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Aviles, Jesus D. Davila, Jorge Moreno, Jaime A. ESIME UPT Secc Estudios Posgrad & Invest Inst Politecn Nacl Mexico City 07430 DF Mexico Inst Ingn UNAM Mexico City 04510 DF Mexico

This paper presents an adaptive thresholds based fault detection (FD) approach using preserving order observers for a family of nominal and disturbed nonlinear systems. Based on cooperativity and dissipativity systemic properties, and providing an adequate initialization, a pair of observers that preserve the partial order with respect to the real state values are provided. The interval estimation is exploited for the design of upper and lower adaptive thresholds for Fault Detection. The proposed methodology is developed for the nominal case, where the nonlinear model is completely known, and is extended for the uncertain case, where the adaptive threshold is designed in the presence of perturbations and uncertainties. A computational methodology expressed in terms of linear matrix inequalities (LMI) is provided for the tuning of the observers parameters. The workability of the proposed methodology is illustrated by numerical simulations in an electromechanical system. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Adaptive thresholds Preserving order observers Interval observers

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Adaptive Sliding-Mode control of an Innovative Engine Cooling System

Adaptive Sliding-Mode Control of an Innovative Engine Coolin...

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10th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Butt, Saif S. Probel, Robert Zhang, Jisheng Aschemann, Harald Univ Rostock Chair Mechatron D-8059 Rostock Germany

This paper proposes a novel adaptive sliding mode control for an innovative engine cooling system under the influence of both matched and mismatched lumped disturbances. The parameter update laws resemble a nonlinear reduced-order disturbance observer and guarantee the convergence of the estimated parameter values to the real ones. Experiments on a dedicated test rig highlight the effectiveness of the proposed novel adaptive slicling-mode control in terms of asymptotic tracking, global stability and guaranteed parameter convergence. The closed-loop stability of the overall system is established by using Lyapunov's direct, method. To provide a fair comparison, the performance of the proposed controller is compared with a PI-controller. (C) 2016, IFAC (International of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Adaptive sliding-mode control parameter estimation nonlinear control engine cooling control

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MODELING AND observer-BASED COMPENSATION OF SLIP IN A FRICTION DRIVE FOR SERVO POSITIONING

MODELING AND OBSERVER-BASED COMPENSATION OF SLIP IN A FRICTI...

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International symposium on Flexible Automation (ISFA)

作者： Duan, Molong Okwudire, Chinedum E. Univ Michigan Dept Mech Engn GG Brown Lab 2350 Hayward Ann Arbor MI 48109 USA

ISBN: (纸本)9781509034673

This paper studies slip in friction drives in the context of a precision servo positioner equipped with a twist-roller friction drive. The servo positioner is modeled using a two-mass model that includes the experimentally-identified nonlinear slip dynamics of the friction drive. The model is then used to design an observer-based compensation scheme aimed at reducing the slip-induced performance degradation of the servo positioner's linear time invariant controller. The compensation scheme is validated in simulations and experiments using state feedback controllers. Tracking performance with the proposed slip compensation scheme, compared with the original controller and an intuitive high pass filter approach, is shown to improve considerably.

关键词： Linear control systems

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Navigating with highly precise odometry and noisy GPS: a case study

Navigating with highly precise odometry and noisy GPS: a cas...

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10th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Barrau, A. Bonnabel, S. SAFRAN TECH Grp Safran Rue Jeunes Bois Chateaufort F-78772 Magny Les Hameaur France PSL Res Univ MINES ParisTech Ctr Robot 60 Bd St-Michel F-75006 Paris France

For linear systems. the Kalman filter perfectly handles rank deficiencies in the process noise covariance matrix, i.e., deterministic information. Yet, in a nonlinear setting this poses great challenges to the extended Kalman filter (EKF). In this paper we consider a simplified nonlinear car model with deterministic dynamics, perfect odometry, end noisy position measurements. Simulations evidence the EKF, when used as a nonlinear observer, 1- falls to correctly encode the physical implications of the deterministic dynamics 2-falls to converge even for arbitrarily small initial estimation errors. On the other hand, the invariant (I)EKF, a variant of the EKF that accounts for the symmetries of the problem I- correctly encodes the physical implications of the deterministic information 2- is mathematically proved to (almost) globally converge, with explicit convergence rates, whereas the EKE does not even locally converge in our simulations. This study more generally suggests the IEKE is way more natural than the EKF, for high precision navigation purposes. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Estimation Kalman filtering nonlinear systems Lie groups navigation

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nonlinear Tracking control of a Pneumatically Actuated Lung Tumour Mimic Model

Nonlinear Tracking Control of a Pneumatically Actuated Lung ...

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10th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Prabel, Robert Aschemann, Harald Kersten, Julia Schunemann, Paul Kurth, Jens Krause, Bernd J. Jonuschies, Ingo Brokel, Klaus Univ Rostock Chair Mechatron D-18059 Rostock Germany Univ Med Ctr Rostock Dept Nucl Med D-18057 Rostock Germany Univ Rostock Chair Mech Engn Design CAD D-18059 Rostock Germany

This paper presents a model-based tracking control design for a mechanism dedicated to accurately reproduce the breathing-induced motion of a human lung tumour. A lung tumour mimic model should perfonn the same smooth motion as a real one in a human body: during inhalation and exhalation. For this purpose, a 3-dimensional mechanism with three pneumatically driven axes has been developed and built up. The proposed control structure represents a cascaded flatness-based tracking control structure: In the fast inner loops, the chambers pressures of the pneumatic cylinders are controlled, whereas the outer loops are related to the position control of the cylinders. Furthermore, sliding mode observers are employed for each cylinder to estimate the corresponding states and a lumped disturbance force. The proposed Overall control structure has been implemented and successfully Validated on an innovative test rig. (C) 2016, IFAC (International Federation of Automatic. control) Hosting, by Elsevier Ltd. All rights reserved.

关键词： Tumour mimic model flatness-based control sliding mode observer pneumatics

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Proceedings - 2016 IEEE International symposium on Computer, Consumer and control, IS3C 2016

Proceedings - 2016 IEEE International Symposium on Computer,...

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2016 IEEE International symposium on Computer, Consumer and control, IS3C 2016

ISBN: (纸本)9781509030712

The proceedings contain 270 papers. The topics discussed include: predictive direct torque control chip with a fuzzy controller for induction motor;TaoBall: core design for smart internet of things ball;a hop-count localization method with boundary improvement for wireless sensor networks;real-time recognition of hand-drawn patterns using an innovative web-based approach;transforming traditional performance into new media audio live performances with processing;hybrid fuzzy-conventional method to improve 360-degree performance appraisal;two-stage iterated local search for solving capacitated vehicle routing problems;smart wearable device design for bicycle lights direction control with speech-recognition function;operating monitoring and fault types classification for motors through vibration signal;fault analysis of induction motor based on discrete fractional Fourier transform;study on location detection of PMSM rotor based on sliding mode observer;a novel control strategy for shunt active power filter under nonlinear and unbalanced three phase load conditions;and combination of observer/Kalman filter identification and digital redesign of observer-based tracker for stochastic chaotic systems.

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Interval observers for PDEs: approximation approach

Interval observers for PDEs: approximation approach

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10th IFAC symposium on nonlinear control Systems (NOLCOS)

作者： Kharkovskaia, 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 Inria Non A Team Parc Sci Haute Borne40 Av F-59650 Villeneuve Dascq France

The problem of interval state estimation is studied for systems described by parabolic Partial Differential Equations (PDEs). The proposed solution is based on a finite-element approximation of PDE, with posterior design of an interval observer for the obtained ordinary differential equation. The interval inclusion of the state function of PDE is obtained using the estimates on the error of discretization. The results are illustrated by numerical experiments with an academic example. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Interval observers PDE Finite-element approximation

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A PEM fuel cells control approach based on differential flatness theory

A PEM fuel cells control approach based on differential flat...

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International symposium on Power Electronics, Electrical Drives, Automation, and Motion (SPEEDAM)

作者： Rigatos, Gerasimos Siano, Pierluigi Ind Syst Inst Unit Ind Automat Rion 26504 Greece Univ Salerno Dept Ind Engn I-84084 Fisciano Italy

ISBN: (纸本)9781509020676

It is proven that the dynamic model of fuel cells is a differentially flat one which means that all its state variables and control inputs can be expressed as differential functions of specific stare variables which are the so-called flat outputs of the system. By exploiting the differential flatness properties of the model its transformation to an equivalent linear form (canonical Brinovsky form) becomes possible. For the latter description of the system's dynamics the design of a state-feedback controller is achieved. This control scheme should be also robust to model uncertainties and external perturbations. To cope with this problem the state-space description of the PEM fuel cells is extended by considering as additional state variables the derivatives of the aggregate disturbance input. Next, a Kalman Filter-based disturbance observer is applied to the linearized extended model of the fuel cells. This estimation method enables to identify the disturbance and model uncertainty terms that affect the system and to introduce a complementary control element that compensates for the perturbations' effects.

关键词： PEM fuel cells nonlinear control differential flatness theory global linearization Kalman Filtering disturbances estimator

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