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A new velocity observer for a class of double integrator dynamics

A new velocity observer for a class of double integrator dyn...

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IEEE International symposium on Intelligent control (ISIC)

作者： Hyo-Sung Ahn Youngcheol Choi Kwang-Kyo Oh School of Mechatronics Gwangju Institute of Science and Technology (GIST) Gwangju Republic of Korea Automotive Components R&D Group Korea Institute of Industrial Technology Gwangju Republic of Korea

ISBN: (纸本)9781479974078

This paper proposes a new velocity observer for a class of nonlinear double integrator dynamics. Mainly, supposing that the nonlinear terms and control input in the double integrator are bounded, we design a simple observer that is structured only with a feedback of estimation position error. Unlike to existing works that mostly have been developed from super-twisting algorithm, this paper does not use any sign function in the velocity observer. Thus, the overall structure of the proposed observer is much simple than existing approaches, while the desired convergence is analytically ensured. From numerical simulation, the validity of the proposed method is illustrated.

关键词： observers Vehicle dynamics Convergence Estimation error Heuristic algorithms Algorithm design and analysis

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New robust feedback linearization method based on nonlinear disturbance observer

New robust feedback linearization method based on nonlinear ...

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IEEE International symposium on Industrial Electronics (ISIE)

作者： Askar Azizi Hamid NouriSola Sirus Bibak Sehraneh Ghaemi Faculty of Electrical and Computer Engineering University of Tabriz Tabriz Iran

Nowadays the feedback linearization and backstepping techniques are introduced as methods for linearization of a system with coordinate transformation and nonlinear designing, respectively. The feedback linearization and backstepping techniques are robust methods, however this study indicates that combining of them and adding nonlinear disturbance observer increases the system robustness. In this paper, the system linearization with backstepping process has been studied. Combining of above mentioned techniques has been used for linearization in this method. The systems have been practically exposed to disturbances and uncertainties. nonlinear disturbance observer has a good ability to estimate disturbances and nonlinear dynamics, so it is useful method for increasing performance of control methods, reducing the effects of disturbances and system uncertainties. The presented control method with nonlinear disturbance observer improves the system robustness against different types of uncertainties, so this method is a modified technique. The proposed design process consists of two steps: First, the nonlinear disturbance observer has been designed to estimate the uncertainties and external disturbances applied to system. Second, a controller has been designed using combined feedback linearization-backstepping method that used prior estimations to decrease the effects of external disturbances and uncertainties in the control input.

关键词： Uncertainty Robustness Equations observers Magnetic levitation Mathematical model Simulation

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Sliding Mode control with observer for PMSM Based on Stribeck Friction Model

Sliding Mode Control with Observer for PMSM Based on Stribec...

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International symposium on Computational Intelligence and design, ISCID

作者： Dong Chen Fenxi Yao Senchun Chai School of Automation Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479970063

Performance of a low-speed servo system may deteriorate due to the influence of ripple torque, measurement noise and friction torque, etc. Among them nonlinear friction is the main factor influencing the low-speed performance of permanent magnet synchronous motor (PMSM). A dual-closed-loop model of PMSM including measured Stribeck friction disturbance factors is established and the simulation results show that friction can lead to "dead zone" of speed tracking and "flat top" of position tracking with traditional PID algorithm. A method of Sliding Mode control (SMC) combined with friction observer is proposed and the results show that it can improve tracking precision and robust performance of the system effectively.

关键词： Friction observers Servomotors Torque IEEE Press Adaptation models Induction motors

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A design of polynomial fuzzy controller with disturbance observer

A design of polynomial fuzzy controller with disturbance obs...

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International symposium on Soft Computing and Intelligent Systems (SCIS)

作者： Hugang Han Yuta Higaki Faculty of Management and Information Systems Prefectural University of Hiroshima Hiroshima Japan

The so-called lumped disturbance in this paper includes modelling error, external disturbance, unmodelled dynamics and parameter perturbations. As the plant model, polynomial fuzzy model is employed, because it is more general than the widely used T-S fuzzy model. In this paper, a new fuzzy disturbance observer (FDO) is proposed to handle the lumped disturbance, and the estimate of the disturbance is used directly to synthesize a part of controller along with the regular control input where such a disturbance is not considered. As a result, a set of the conditions in the manner of the sum of squares (SOS) for the asymptotical stability of the closed-loop system is provided.

关键词： Polynomials observers Vectors control systems nonlinear systems Symmetric matrices Fuzzy systems

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Further results on output feedback control for a class of high order stochastic nonlinear systems with more general conditions

Further results on output feedback control for a class of hi...

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IEEE/SICE International symposium on System Integration

作者： Long-Chuan Guo Hua-Qing Liang Xin Zuo Jian-Wei Liu Department of Automation College of Geophysics and Information Engineering China University of Petroleum Campus (CUP) Beijing China China University of Petroleum Beijing Changping-qu Beijing CN

ISBN: (纸本)9781479969456

In this paper, the output feedback stabilization problem is addressed by using appropriate Lyapunov Krasovskii functions and backstepping design technique for a class of high-order stochastic nonlinear systems in which the nonlinear vector terms depend on the unmeasurable states besides the measurable output. Different from existing papers, we extend the linear growth conditions to the power growth conditions and change the high order index from constant value to varying value in order to allow the result to apply to the more general situations. The maximum value interval of observer gain parameter is chosen to ensure the closed-loop system globally asymptotically stable in probability. The efficiency of the output-feedback controller is demonstrated by a numerical simulation.

关键词： Educational institutions nonlinear systems Vectors observers Closed loop systems Output feedback Backstepping

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Disturbance observer design for a class of nonlinear system with application to active suspension system control

Disturbance observer design for a class of nonlinear system ...

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International symposium on Robotics (ISR)

作者： Darsan R. Patel Olugbenga M. Anubi Carl Crane Center for Intelligent Machines and Robotics University of Florida U.S.A

A systematic disturbance observer for a class of nonlinear affine systems subject to bounded exogenous input is designed. The main idea expounded upon is to design the “control law” for the observer dynamics such that the tracking error between the observer states and the original system states lies within a bounded set. It is then shown that, provided that the system satisfies some sufficient conditions, then the observer control authority will track the unknown exogenous input with the same order of magnitude of the error. In other words, the observer dynamics is designed to recreate the measured behavior of the original system to some order of accuracy. If this happens, then, under certain sufficient conditions, the control authority that reproduced this measured behavior will track the unknown disturbance input to the same order of accuracy. While the concepts developed in this paper can be used for a class of nonlinear system, the main application considered is the active suspension system control. The motivation is to eventually use the observed disturbance as a preview information for a cascaded suspension system.

关键词： nonlinear systems Suspensions Welding Accuracy

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Global Output Feedback Stabilization for a Class of Stochastic nonlinear Systems

Global Output Feedback Stabilization for a Class of Stochast...

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IEEE International symposium on Industrial Electronics (ISIE)

作者： Ai, Weiqing Zhai, Junyong Zha, Wenting Southeast Univ Sch Automat Nanjing 210096 Jiangsu Peoples R China

ISBN: (纸本)9781467351942;9781467351928

This paper addresses the problem of output feedback stabilization for a class of stochastic nonlinear systems whose output gain is not precisely known, which implies system state x(1) is unmeasurable. Thus, the normal high-gain observer used in output feedback control design for many stochastic systems is not available. By introducing a new observer without requiring the information of system state x(1) and applying the backstepping technique, we success to design a linear controller with an appropriate choice of the design parameters to render the closed-loop system globally asymptotically stable in probability. A simulation result is given to show the effectiveness of the proposed design scheme.

关键词： nonlinear systems Output feedback design parameter design scheme Output Feedback control linear controllers Stochastic Simulation results Not Available

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Global control for a Class of Planar Stochastic nonlinear Systems with Unknown Output Gain

Global Control for a Class of Planar Stochastic Nonlinear Sy...

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IEEE International symposium on Industrial Electronics (ISIE)

作者： Zhai, Junyong Ai, Weiqing Zha, Wenting Southeast Univ Sch Automat Nanjing 210096 Jiangsu Peoples R China

ISBN: (纸本)9781467351942;9781467351928

This paper addresses the problem of global asymptotical stabilization via output feedback for a class of planar stochastic nonlinear systems whose output gain is not precisely known. We first design an observer and use the estimated states to construct a controller to globally stabilize the nominal linear system without considering perturbing nonlinearities. Then we apply the homogeneous domination approach to design a homogeneous observer and controller with an appropriate choice of scaling gain to render the planar stochastic nonlinear system globally asymptotically stable in probability.

关键词： nonlinear systems Gain Planar controllers Stochastic Output feedback asymptotic

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nonlinear observer normal form with output injection and extended dynamic

Nonlinear observer normal form with output injection and ext...

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9th IFAC symposium on nonlinear control Systems, NOLCOS 2013

作者： Tami, R. Boutat, D. Zheng, G. Institute PRISME UPRES 4229 ENSI-Bourges 88 boulevard Lahitolle 18020 Bourges cedex France INRIA-Lille Nord Europe 40 Avenue Halley 59650 Villeneuve d'Ascq Cedex France

ISBN: (纸本)9783902823472

This paper presents a new extended output depending nonlinear observer normal form. A sufficient geometrical conditions that guarantee a change of coordinates allowing the transformation of a given nonlinear dynamical system into the proposed observer form are given. Throughout this work, it will be showed that, unlike to the existing observer normal forms, this new form enables to design an observer for the Susceptible, Exposed, Infected, and Recovered (SEIR) model of population under an infectious disease. © IFAC.

关键词： nonlinear control systems

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Averaged Port-Hamiltonian modeling based observer for DC-DC power converters

Averaged Port-Hamiltonian modeling based observer for DC-DC ...

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5th IFAC symposium on System Structure and control, SSSC 2013

作者： Meghnous, A.R. Pham, M.T. Lin-Shi, X. Laboratoire Ampère UMR CNRS 5005 Université de Lyon INSA-Lyon 25 Avenue Jean Capelle F-69621 Villeurbanne Cedex France

ISBN: (纸本)9783902823250

This paper presents a nonlinear observer for DC-DC power converters based on an averaged Port-Hamiltonian model. The averaged model of the standard port control Hamiltonian is used to describe the switching behavior and to design a nonlinear observer. Alike a state-space averaged model of the kind of systems, properties of port-Hamiltonian modeling and Lyapunov theory allows to overcome an observability issue encounters in the observer design for switched systems and to guarantee that the convergence of the observer error is independent of the cycle duty. An application to a Single-Ended Primary Inductor Converter (SEPIC) is presented in simulation. An extended observer is proposed to estimate the load resistor. Experimental results on a real process confirm the performances of the proposed observer. © 2013 IFAC.

关键词： DC-DC converters

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