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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211-220 订阅

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Convergence Analysis of Continuous-Time Systems Based on Feedforward Neural Networks

Convergence Analysis of Continuous-Time Systems Based on Fee...

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IEEE International symposium on Circuits and Systems (ISCAS)

作者： Huang, Yuzhu Liu, Derong Wei, Qinglai Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

ISBN: (纸本)9781467357623;9781467357609

In this paper, we construct a feedforward neural network (NN) based system containing two NNs. The convergence of the NN based system is analyzed in detail. For setting up the NN based system, an NN observer is first designed to estimate the system states. Then, based on the observed states, a feedforward neuro-control system is constructed by using adaptive dynamic programming (ADP). In this design, two NN structures are used: a three-layer feedforward NN to constitute the observer which can be applied to the systems with high degrees of nonlinearity and without a priori knowledge about system dynamics, and a critic NN to approximate the value function. Moreover, the weight update laws for the critic NN are generated using a gradient-descent method based on a modified temporal difference error, which is independent of the system dynamics. Finally, uniform ultimate boundedness (UUB) of the NN based system is proved.

关键词： continuous time systems control system synthesis convergence dynamic programming feedforward neural nets gradient methods neurocontrollers nonlinear control systems observers

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A note on observability canonical forms for nonlinear systems

A note on observability canonical forms for nonlinear system...

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9th IFAC symposium on nonlinear control Systems, NOLCOS 2013

作者： Astolfi, Daniele Praly, Laurent Marconi, Lorenzo CASY DEI University of Bologna Italy Ecole des Mines Fontainebleau France

ISBN: (纸本)9783902823472

For nonlinear systems affine in the input with state x ∈ Rn, input u ∈ R and output y ∈ R, it is a well-known fact that, if the function mapping (x;u,. . . ., u(n-1)) into (u,. . . , u(n-1), y, . . . , y(n-1)) is an injective immersion, then the system can be locally transformed into an observability normal form with a triangular structure appropriate for a high-gain observer. In this technical note we extend this result to the case of systems not necessarily affine in the input and such that the injectivity condition holds for the function mapping (x;u,. . . , u(p-1)) into (u,. . . ,u(p-1), y, . . . , y (p-1)) with p ≥ n. The forced uncertain harmonic oscillator is taken as elementary example to illustrate the theory. © IFAC.

关键词： nonlinear control systems

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Continuous discrete observer with updated sampling period

Continuous discrete observer with updated sampling period

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9th IFAC symposium on nonlinear control Systems, NOLCOS 2013

作者： Andrieu, Vincent Nadri, Madiha Serres, Ulysse Vivalda, Jean-Claude Universite de Lyon F-69622 Lyon France Universite Lyon 1 CNRS LAGEP 43 bd du 11 novembre 69100 Villeurbanne France Inria CORIDA Villers-les-Nancy F- 54600 France Universite de Lorraine IECL UMR 7502 Vanduvre-les-Nancy F-54506 France CNRS IECL UMR 7502 Vanduvre-les-Nancy F-54506 France

ISBN: (纸本)9783902823472

This paper deals with the design of high gain observers for a class of continuous dynamical systems with discrete-time measurements. Indeed, different approaches based on high gain techniques have been followed in the literature to tackle this problem. Contrary to these works, the measurement sampling time is considered to be variable. Moreover, the new idea of the proposed work is to synthesize an observer requiring the less knowledge as possible from the output measurements. This is done by using an updated sampling time observer. Under the global Lipschitz assumption, the asymptotic convergence of the observation error is established. As an application of this approach, an estimation problem of state of an academic bioprocess is studied, and its simulation results are discussed. © IFAC.

关键词： nonlinear control systems

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Trajectory tracking for a group of unicycle-type robots using an attitude observer

Trajectory tracking for a group of unicycle-type robots usin...

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9th IFAC symposium on nonlinear control Systems, NOLCOS 2013

作者： Gonzalez-Sierra, J. Aranda-Bricaire, E. Rodriguez-Cortes, H. Santiaguillo-Salinas, J. Electrical Engineering Department CINVESTAV 7000 Mexico DF Mexico

ISBN: (纸本)9783902823472

The trajectory tracking problem for a group of unicycle-type robots is addressed and solved by means of a partial state feedback strategy based on the leader-followers scheme using an observer to estimate the orientation angle of each mobile robot. The control law is based on an extended kinematic model where the output function to be controlled is the mid-point of the wheels axis of each robot. This choice leads to an ill defined control law when the robot is at rest. To avoid such a singularity, a complementary control law is enabled when the linear velocity of each robot is close to zero. It is shown that the combination of a classical dynamic full information controller with an exponentially convergent vehicle attitude observer yields an asymptotically stable closed-loop system. Real-time experiments show the performance of the proposed control scheme. © IFAC.

关键词： control theory

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Adaptive observer based fault diagnosis applied to differential-algebraic systems

Adaptive observer based fault diagnosis applied to different...

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

作者： Ali, Abdouramane Moussa Zhang, Qinghua Project-Team SISYPHE of INRIA Campus de Beaulieu 35042 Rennes France

ISBN: (纸本)9783902823250

Some engineering systems are naturally described by differential-algebraic equations (DAE), whereas it may be difficult or impossible to model them with ordinary differential equations (ODE). This paper proposes an approach to fault diagnosis for systems described by DAEs. Through a particular discretization method and under realistic assumptions, the considered continuous time DAE model is transformed to an explicit state space model in discrete time. An adaptive observer is then applied to the discretized system for monitoring faults possibly affecting the system and represented by changes in model parameters. As an illustrative example, the diagnosis of faults in a heat exchanger modeled by nonlinear DAEs is studied by numerical simulations. © 2013 IFAC.

关键词： Failure analysis

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Simulating the Synchronization of Multi-Scroll Chaotic Oscillators

Simulating the Synchronization of Multi-Scroll Chaotic Oscil...

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IEEE International symposium on Circuits and Systems (ISCAS)

作者： Carbajal-Gomez, V. H. Tlelo-Cuautle, E. Trejo-Guerra, R. Munoz-Pacheco, J. M. INAOE Puebla Mexico SEMTECH Snowbush Mexico Design Ctr Aguascalients Mexico BUAP Puebla Mexico

ISBN: (纸本)9781467357623;9781467357609

This investigation shows the modeling and simulation of the synchronization of two multi-scroll chaotic oscillators in a master-slave topology. The synchronization is performed by Generalized Hamiltonian forms and observer approach from nonlinear control theory. The case of study consists of two 4-scroll attractors based on saturated function series. Finally, the numerical simulation of the synchronization, from the mathematical description, and the circuit implementation using HSPICE models of opamps, show the good agreement between theory and experiment results.

关键词： chaos oscillators synchronisation

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Robust Tracking control design for nonlinear Systems via fuzzy observer

Robust Tracking Control design for Nonlinear Systems via fuz...

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5th International symposium on Computational Intelligence and design (ISCID)

作者： Chang, Guang-hui Wu, Jie-chang Naval Univ Engn Coll Naval Architecture & Power Wuhan Peoples R China

ISBN: (纸本)9780769548111

This paper presents fuzzy tracking control design for nonlinear systems. Considering not all states of the nonlinear system are fully available or measured while Takagi-Sugeno (T-S) fuzzy model is used to represent the dynamic of nonlinear system, A fuzzy observer-based fuzzy controller is developed to reduce the tracking error. This case yields a disturbance when designing tracking control, so H infinity Scheme is employed to achieve the prescribed robust tracking performance. Simulation example is provided to illustrate the tracking control design procedure and performance of the proposed methods.

关键词： Fuzzy tracking control Takagi-Sugeno fuzzy model fuzzy observer Linear matrix inequity(LMI)

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On Interval observer design for a class of continuous-time LPV systems

On Interval observer design for a class of continuous-time L...

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9th IFAC symposium on nonlinear control Systems, NOLCOS 2013

作者： Chebotarev, Stanislav Efimov, Denis Rassi, Tarek Zolghadri, Ali Kronverkskiy av. 49 Saint-Petersburg 197101 Russia Non-A Team of INRIA-LNE Parc Scientique de la Haute Borne 40 avenue Halley Bt.A Park Plaza 59650 Villeneuve d'Ascq France Cedric - laetitia 292 Rue St-Martin 75141 Paris Cedex 03 France University of Bordeaux IMS-lab Automatic Control Group 351 cours de la libration 33405 Talence France

ISBN: (纸本)9783902823472

This work is devoted to interval observer design for Linear Parameter-Varying (LPV) systems under assumption that the vector of scheduling parameters is not available for measurements. Stability conditions are expressed in terms of matrix inequalities, which can be solved using standard numerical solvers. Robustness and estimation accuracy with respect to model uncertainty is analyzed using L1/L1 framework. Two solutions are proposed for nonnegative systems and for a generic case. The efficiency of the proposed approach is demonstrated through computer simulations. © IFAC.

关键词： Computer simulation

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nonlinear feedback control of dual-stage actuator system

Nonlinear feedback control of dual-stage actuator system

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8th International symposium on Precision Engineering Measurements and Instrumentation

作者： Liu, Chuan Liu, Yang Li, Xing Chen, Xing-Lin School of Astronautics Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9780819495501

The wafer stage of lithography is a dual-stage actuator (DSA) system. An nm-level positioning precision is required by using macro movement of long-stroke linear motor and high-precision micro movement of short-stroke voice coil motor, while the platform is moving in high-speed. This brief presents a nonlinear control method for dual-stage actuator systems to track a step command input fast and accurately. To further reduce the settling time, we design the long-stroke actuator controller with the control law of proximate time optimal control (PTOC) to yield a closed-loop system with a small damping ratio for a fast rise time and certain allowable overshoot. Moreover, for the purpose of reducing the overshoot caused by the long-stroke actuator as the system output approaches the target location, a composite nonlinear feedback (CNF) control law is designed for the short-stroke actuator to yield a closed-loop system with a large damping ratio. The linear extended state observer (LESO) was designed to estimate the unknown velocity and compensate the disturbance of servo systems, thus static error could be effectively decreased. We applied this proposed control method to an actual DSA positioning system, which consists of a linear motor and a voice coil motor. Experimental results show that our approach can improve the dynamic performance and the anti-jamming capability of the system, enhance the control precision. © 2013 SPIE.

关键词： Closed loop systems

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observer and model predictive control for on-line parameter identification in nonlinear systems

Observer and model predictive control for on-line parameter ...

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10th IFAC symposium on Dynamics and control of Process Systems, DYCOPS 2013

作者： Qian, Jun Dufour, Pascal Nadri, Madiha Acsystème Immeuble Cap Nord A 2 Allée Marie Berhaut 35000 Rennes France Université de Lyon Lyon F-69003 France Villeurbanne 69100 France

ISBN: (纸本)9783902823595

This paper develops an on-line model parameter identification approach for multivariable systems, which are nonlinear in terms of state representation and/or in terms of parameters. Combining the observation theory and the model based predictive control theory, an optimal closed loop experiment design for on-line identification of model parameters is given. During only one experiment, an optimal time-varying input is computed to optimize a criterion, while the unknown model parameters are estimated at the same time. The criterion is based on the sensitivities of the model outputs with respect to the unknown parameters that are estimated. The approach does not require to measure all the process state. Moreover output constraints allow to maintain the behaviour into a prescribed region and/or stabilize the process in closed loop. This approach is illustrated through an unstable rolling delta wing with one input, two measured states and five unknown constant model parameters. © IFAC.

关键词： nonlinear systems

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