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design of adaptive robust state observers with simpler structure for a class of uncertain time-delay systems

Design of adaptive robust state observers with simpler struc...

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7th IFAC symposium on Robust control design, ROCOND'12

作者： Wu, Hansheng Department of Information Science Prefectural University of Hiroshima Hiroshima City Hiroshima 734-8558 Japan

ISBN: (纸本)9783902823038

The problem of adaptive robust state observer design is considered for a class of uncertain nonlinear dynamical systems with multiple time-varying delays. In the paper, it is only required that the nonlinear uncertainties, which can also include time-varying delays, are bounded in any nonnegative nonlinear functions which are not required to be known for the system designer. A new method is presented whereby a class of memoryless adaptive robust state observers with a rather simpler structure is proposed. It is also shown that by employing the proposed adaptive robust state observer, the observation error between the observer state estimate and the true state can be guaranteed to be uniformly exponentially convergent towards a ball which can be as small as desired. Finally, a numerical example is given to demonstrate the validity of the results. Copyright © 2012 IFAC.

关键词： nonlinear dynamical systems

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observer synthesis for uncertain nonlinear systems. Application to waste-water treatment plants

Observer synthesis for uncertain nonlinear systems. Applicat...

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7th IFAC symposium on Robust control design, ROCOND'12

作者： Nagy-Kiss, Anca Maria Marx, Benoît Mourot, Gilles Schutz, Georges Ragot, José Unit of Modelling and Simulation Public Research Center Henri Tudor 29 avenue John F. Kennedy L-1855 Luxembourg-Kirchberg Luxembourg Centre de Rescherche en Automatique de Nancy INPL 2 avenue de la forêt de Haye 54500 Vandoeuvre-lès-Nancy France

ISBN: (纸本)9783902823038

The paper proposes an observer synthesis for uncertain nonlinear systems, described by multi-models with un-measurable premise variables, affected by unknown inputs. A proportional multi-integral observer is considered in order to estimate the system states and the unknown inputs and minimize the influence of the model uncertainties. The stability analysis and the observer synthesis are expressed through linear matrix inequalities based on the Lyapunov method. The performances of the proposed observer synthesis method are highlighted through the application to a waste-water treatment plant model, which is an uncertain nonlinear system affected by unknown inputs. © 2012 IFAC.

关键词： Lyapunov methods

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Optimal design of a PMU-based monitoring architecture for power systems

Optimal design of a PMU-based monitoring architecture for po...

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8th Power Plant and Power System control symposium, PPPSC 2012

作者： Georges, Didier Grenoble INP Univ Grenoble 1 GIPSA-Lab. F-38402 St-Martin-d'Hères France

ISBN: (纸本)9783902823243

In this paper, a methodology for designing an optimal monitoring architecture by using a limited number of PMU (Phasor Measurement Units) and a PDC (Phase Data Concentrator) is proposed. The optimal design problem consists in defining the optimal location of both the PMU and the PDC by maximizing the expected value of the trace of the observability gramian of the power system over a large number of set point scenarii, while minimizing the communication infrastructure cost. Furthermore, a nonlinear dynamical EKF (Extended Kalman Filtering) state-observer is proposed. This state-observer allows to take transient phenomena into account for wide-area power systems described by algebraic-differential equations, without needing nonlinear inversion techniques. Application to a 5-bus power system is also presented and demontrates the effectiveness of the approach.

关键词： Sensor networks

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An approach to reconstruction of actuator faults for a class of nonlinear systems

An approach to reconstruction of actuator faults for a class...

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8th IFAC symposium on Fault Detection, Supervision and Safety of Technical Processes, SAFEPROCESS 2012

作者： Krokavec, D. Filasová, A. Department of Cybernetics and Artificial Intelligence Technical University of Košice Košice Slovakia

ISBN: (纸本)9783902823090

This paper focuses on the principle for designing reduced-order fuzzy-observer-based actuator fault reconstruction for a class of nonlinear systems. Based on given matching condition, an especial gain matrix structure of the reduced-order fuzzy observer is introduced, and the conditions for asymptotic estimation of actuator faults are derived. The design conditions are outlined in terms of linear matrix inequalities to possess a stable structure that is closest to optimal asymptotic properties. Simulation results illustrate the observer design procedure and demonstrate the actuator fault reconstruction effectiveness and performance. © 2012 IFAC.

关键词： Convex optimization

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Adaptive sliding mode observer design for switching power converters

Adaptive sliding mode observer design for switching power co...

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8th Power Plant and Power System control symposium, PPPSC 2012

作者： Liu, Jianxing Laghrouche, S. Harmouche, M. Wack, M. Belfort France

ISBN: (纸本)9783902823243

In this paper, a nonlinear adaptive super-twisting(STW) sliding mode observer is proposed for a three-cell converter. The aim is to reduce the number of sensors in such system by estimating all the capacitor voltages only with the measurement of load current. The gains of super-twisting algorithm are allowed to adapt to ensure the establishment of the sliding mode in the presence of uncertainties with unknown bounds. The hybrid behavior of the converter is also taken into account when designing the observer. The recent concept of Z(TN)- observability is applied to analysis the observability of the switching system in order to obtain the estimation of the voltage across each capacitor. Simulation results show the efficiency and robustness of the proposed observer with respect to load resistance variation.

关键词： Lyapunov functions

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A mixed H/H∞ LPV approach to adaptive fault compensation for a nonlinear UAV

A mixed H/H∞ LPV approach to adaptive fault compensation fo...

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8th IFAC symposium on Fault Detection, Supervision and Safety of Technical Processes, SAFEPROCESS 2012

作者： Chen, Lejun Patton, Ron J. Department of Engineering University of Hull Hull HU6 7RX United Kingdom

ISBN: (纸本)9783902823090

The current study is motivated by the need to implement a linear model-based fault detection and isolation/diagnosis (FDD) methodology and a corresponding active fault tolerant control (FTC) scheme onto a nonlinear aircraft system directly without control law reconfiguration The nonlinear model is expressed in linear parameter varying (LPV) form. The mixed quadratic H -/H∞ LPV observer is then developed to maximize the robustness of the residual to uncertainty or disturbances as well as achieving the specific minimum sensitivity of the residual to faults, whilst the fault estimation can also be achieved for active on-line FTC via adaptive control. Instead of constant observer gains, parameter-varying gains are used in the LPV observer and the free design parameters are parameterized via a generalized inverse to improve the conservatism of the robust solution. The FDD approach together with FTC scheme developed is then applied in non-linear simulation to the example of faults in the yaw rate sensor of a UAV aircraft (Machan). © 2012 IFAC.

关键词： Unmanned aerial vehicles (UAV)

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design of an unknown input observer for fault diagnosis of non-linear systems with state constraints

Design of an unknown input observer for fault diagnosis of n...

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8th IFAC symposium on Fault Detection, Supervision and Safety of Technical Processes, SAFEPROCESS 2012

作者： Witczak, Marcin Puig, Vicenç Dziekan, Lukasz Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 65-246 Zielona Góra Poland Automatic Control Departament Campus de Terrassa Universidad Politécnica de Cataluña Rambla Sant Nebridi 10 08222 Terrassa Spain

ISBN: (纸本)9783902823090

The paper deals with the problem of designing observers for a class of discrete-time nonlinear systems with an unknown input. In particular, with the use of the Lyapunov method, a design procedure of an asymptotically convergent observer is proposed. Moreover, the effect of decoupling an unknown input is investigated in the light of an undesirable decoupling of possible faults. As a result, a condition for checking an undesirable fault decoupling is provided. Subsequently, it is shown how to employ the proposed robust fault diagnosis observer for the non-linear systems with state constraints. The final part of the paper shows experimental results that confirm the effectiveness of the proposed approach and the potential profits that can be achieved while applying the proposed approach in the fault diagnosis scheme. © 2012 IFAC.

关键词： nonlinear systems

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Frequency Response Analysis of MR-Fluid Actuator Based on Disturbance observer

Frequency Response Analysis of MR-Fluid Actuator Based on Di...

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IEEE/SICE International symposium on System Integration (SII)

作者： Miura, Kazumasa Katsura, Seiichiro Keio Univ Sch Integrated Design Engn Kohoku Ku 3-14-1 Hiyoshi Yokohama Kanagawa Japan Keio Univ Dept Syst Design Engn Kohoku Ku Yokohama Kanagawa Japan

ISBN: (纸本)9781467314978

Magnethoreological-fluid (MR-fluid) actuators are consider as as suitable instruments in rehabilitation trainings so that they are passive actuators. Passive actuators will not generate force by themselves. Only when external force acts on them, they generate reaction force. Considering these properties, passive actuators are stable actuators and appropriate for the human society because they would be little risk for humans when they are loss of control. In past, the author has proposed robust velocity constraint control, in which nonlinear term of MR fluids are compensated. This research uses the control system and measures frequency responses. In the constructed system, bandwidth of velocity constraint control can be investigated, and quantitative performance evaluation of rehabilitation trainings using MR-fluid actuators is expected in the future.

关键词： actuators frequency response human-robot interaction magnetorheology medical robotics observers patient rehabilitation training velocity control

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External perturbation estimation based on super-twisting algorithm for attitude control of UAVs

External perturbation estimation based on super-twisting alg...

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7th IFAC symposium on Robust control design, ROCOND'12

作者： Derafa, L. El Hadri, A. Fridman, L. Control and Command Laboratory Ecole Militaire Polytechnique 16111 Bordj El Bahri Algiers Algeria Versailles University 10-12 Avenue de l'Europe 78140 Vélizy France Dept. Control Automatico CINVESTAV IPN Mexico D.F.AP-14-740 Mexico Departamento de Ingeneria de Control y Robotica Devision de Ingeneria Electrica UNAM Mexico

ISBN: (纸本)9783902823038

In this paper, the problem of UAVs attitude control with external perturbation is addressed. The algorithm is constructed in two steps, in the first step the external perturbation is estimated using finite time convergent observer (Super-Twisting Algorithm (STA)) while in the second step this estimation is used by the controller in order to compensate it. The closed loop stability properties of this nonlinear controller/observer are analyzed using separation principle and the system is found to be globally stable. The results of simulations and actual experiments on a real quadrotor show the effectiveness of the proposed observer/controller to improve the performances of the system despite of disturbances. © 2012 IFAC.

关键词： Attitude control

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2012 the 8th IEEE International symposium on Instrumentation and control Technology, ISICT 2012 - Proceedings

2012 the 8th IEEE International Symposium on Instrumentation...

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8th IEEE International symposium on Instrumentation and control Technology, ISICT 2012

ISBN: (纸本)9781467326162

The proceedings contain 67 papers. The topics discussed include: disturbance torque rejection for magnetically suspended flywheel based state observer;the internal model control design of three-axis inertially stabilized platform for airborne remote sensing;correction for remaining effects in push-broom hyperspectral radiance data;design and analysis of micromechanical resonant accelerometer;experimental design of a dual axis atomic spin gyroscope;experimental study of POS lever-arm error compensation;human detection algorithm for Doppler radar using prediction error in autoregressive model;derivative-free distributed filtering for MIMO nonlinear systems under delays and packet drops;autonomous navigation for mobile robot based on a sonar ring and its implementation;a new concept for the distributions of wavelet packet decomposition coefficients in detail subbands;and the tracking approach for small target with complex background based on spectral features.

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