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共 495 条记录，以下是291-300 订阅

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Fault tolerant control for Takagi-Sugeno systems with unmeasurable premise variables by trajectory tracking

Fault tolerant control for Takagi-Sugeno systems with unmeas...

引用

IEEE International symposium on Industrial Electronics (ISIE)

作者： Dalil Ichalal Benoit Marx José Ragot Didier Maquin Centre de Recherche en Automatique de Nancy CRAN Nancy Université CNRS Vandoeuvre-les-Nancy France

This paper presents a new method for fault tolerant control of nonlinear systems described by Takagi-Sugeno fuzzy systems with unmeasurable premise variables. The idea is to use a reference model and design a new control law to minimize the state deviation between a healthy reference model and the eventually faulty actual model. This scheme requires the knowledge of the system states and of the occurring faults. These signals are estimated from a Proportional-Integral observer (PIO) or Proportional-Multi-Integral observer (PMIO). The fault tolerant control law is designed by using the Lyapunov method to obtain conditions which are given in Linear Matrix Inequality formulation (LMI). Finally, an example is included.

关键词： observers Fault tolerance Fault tolerant systems Bismuth Mathematical model nonlinear systems Trajectory

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Output based direct adaptive iterative learning control for nonlinear systems

Output based direct adaptive iterative learning control for ...

引用

IEEE International symposium on Intelligent control (ISIC)

作者： Ying-Chung Wang Chiang-Ju Chien Department of Electronic Engineering Huafan University Taipei Taiwan

In this paper, an output based direct adaptive iterative learning controller using a fuzzy neural network is proposed for a class of uncertain repeatable nonlinear systems. As we assume that the states are not measurable, a sliding window of measurements is introduced to design the iterative learning controller without state observer. Based on a derived error model, a fuzzy neural network using sliding window of measurement is introduced to design a fuzzy neural learning component. It is used to overcome the design difficulty in dealing with the certainty equivalent controller. On the other hand, an averaging filter approach is adopted to design a robust learning component. It will compensate for the uncertainties due to fuzzy neural approximation error, input disturbance and state estimation errors. A Lyapunov like analysis is applied to show that all the adjustable parameters as well as internal signals remain bounded for all iterations. Furthermore, the norm of output tracking error will asymptotically converge to a tunable residual set as iteration goes to infinity.

关键词： nonlinear systems Robustness Equations Adaptation model Fuzzy neural networks Transfer functions observers

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Robust adaptive control design for a class of uncertain MIMO nonlinear systems

Robust adaptive control design for a class of uncertain MIMO...

引用

IEEE International symposium on Intelligent control (ISIC)

作者： Z. Wang J. Chen A. Behal School of Electrical Engineering and Computer Science University of Central Florida Orlando FL USA Ida Tech LLC Bend OR USA School of Electrical Engineering and Computer Science and the NanoScience Technology Center University of Central Florida Orlando FL USA

In this paper, we address the problem of adaptive control design for a class of multi-input multi-output (MIMO) nonlinear systems. A Lypaunov based singularity free control law, which compensates for parametric uncertainty in both the drift vector and the input gain matrix, is proposed under the mild assumption that the signs of the leading minors of the control input gain matrix are known. Lyapunov analysis shows global uniform ultimate boundedness (GUUB) result for the tracking error under full state feedback (FSFB). Under the restriction that only the output vector is available for measurement, an output feedback (OFB) controller is designed based on a standard high gain observer (HGO) - stability under OFB is fostered by the uniformity of the FSFB solution. Simulation results for both FSFB and OFB controllers demonstrate the efficacy of the MIMO control design in the classical 2-DOF robot manipulator model.

关键词： Matrix decomposition MIMO control design Symmetric matrices Adaptive control Output feedback Stability analysis

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Fault tolerant tracking control for Near Space Hypersonic Vehicle via neural network

Fault tolerant tracking control for Near Space Hypersonic Ve...

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International symposium on Systems and control in Aerospace and Astronautics (ISSCAA)

作者： Yufei Xu Bin Jiang Zhifeng Gao College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China

In this paper, a fault tolerant control (FTC) strategy is investigated for Near Space Hypersonic Vehicle (NSHV) based on neural network and adaptive backstepping design. Firstly, a radial basis function (RBF) neural network (NN) is used to approximate the nonlinear dynamics, a neural network observer is constructed to estimate the unknown system fault, the adaptive on-line parameter-updating laws are derived, and the stability of the state error dynamic is guaranteed. Then an adaptive backstepping based fault tolerant controller is designed for the faulty system. The asymptotical stability of the closed-loop system and uniform boundedness of the state tracking error are proved according to Lyapunov theorem. Finally, simulation results on the NSHV attitude dynamics demonstrate the effectiveness of the proposed scheme.

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Adaptive output feedback tracking control for induction motors with uncertain load torque and resistances

Adaptive output feedback tracking control for induction moto...

引用

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

作者： R. Marino P. Tomei C. M. Verrelli Dipartimento di Ingegneria Elettronica Universitá di Roma Tor Vergata Rome Italy

ISBN: (纸本)9781424449866;9781424449873

The problem of guaranteeing rotor speed and flux modulus tracking on the basis of rotor speed and stator currents measurements is addressed and solved for induction motors with uncertain constant load torque and stator and rotor resistances. A new nonlinear adaptive control algorithm is designed, which relies on a closed loop adaptive observer providing estimates for the unmeasured state variables and for the uncertain parameters. Local exponential stability of the origin of the closed loop tracking and estimation error dynamics is guaranteed under persistency of excitation conditions and under suitable assumptions imposing a sufficiently slow adaptation for the stator resistance estimate.

关键词： Programmable control Adaptive control Output feedback Torque control Induction motors Rotors Stators Current measurement Algorithm design and analysis observers

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Implementations of state-space controllers using Field Programmable Gate Arrays

Implementations of state-space controllers using Field Progr...

引用

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

作者： B. R. Mutlu M. Dolen Department of Mechanical Engineering Middle East Technical University Ankara Turkey Department of Mechanical Engineering Hacettepe University Ankara Turkey

Field Programmable Gate Arrays (FPGAs) are suitable choices for demanding real-time control applications including CNC machine tools, robotics, advanced automation, aviation, automotive systems. Logic-level design capabilities of FPGAs allow engineers to develop efficient yet flexible methods for motion control applications. In fact, certain properties of FPGAs (parallelism, layout management, logic optimization, etc.) can be exploited to reduce the resources used on the FPGA without sacrificing the performance. This paper focuses on this aspect and presents novel implementation methods for motion controllers using FPGAs. The presented methods are applied to a full-state space controller utilizing a Luenberger-type state observer. This controller topology, which can be easily tailored to any application, is implemented on an Altera Cyclone II FPGA chip utilizing the methods elaborated in the paper. Furthermore, the control performances of the resulting systems are investigated through a hardware in the loop simulation (HILS) of a nonlinear system (inverted pendulum) using MATLAB.

关键词： Field programmable gate arrays Automatic control Programmable logic arrays Robotics and automation Automotive engineering Motion control Real time systems control systems Computer numerical control Machine tools

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A BTOF observer Backstepping-based Output Feedback Law for nonlinear Systems

A BTOF Observer Backstepping-based Output Feedback Law for N...

引用

IEEE International Conference on control Applications/International symposium on Intelligent control

作者： Kvaternik, Karla Lynch, Alan F. Univ Alberta Edmonton AB T6G 2M7 Canada

ISBN: (纸本)9781424446018

We present an observer-backstepping based approach to designing an output feedback law on the basis of a BTOF (Block Triangular observer Form) observer for multivariable nonlinear systems. The BTOF observer is a recently developed extension to the nonlinear observer used in an established approach to demonstrate observer backstepping. We illustrate our design on a model of a physical system - the magnetically levitated ball.

关键词： Backstepping

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New adaptive observer design for uniformly observable nonlinear systems

New adaptive observer design for uniformly observable nonlin...

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IEEE International Conference on control Applications/International symposium on Intelligent control

作者： Ibrir, Salim Univ Trinidad & Tobago Brechin Castle Couva Trinidad Tobago

ISBN: (纸本)9781424446018

New observation methodology is developed for inherently nonlinear systems satisfying the complete uniform observability condition. Under the assumption that the system nonlinearities are continuously differentiable, we show that the design of globally converging observers for triangular uniformly observable systems is always possible whatever the form of the nonlinearities. Illustrative example is introduced to show the effectiveness and the novelty of the proposed design.

关键词： nonlinear observer design Adaptive estimation Time-varying systems

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An LMI-Based Adaptive Resilient observer design for a Class of nonlinear Systems

An LMI-Based Adaptive Resilient Observer Design for a Class ...

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IEEE International Conference on control Applications/International symposium on Intelligent control

作者： Pourgholi, Mahdi Majd, Vahid Johari Tarbiat Modares Univ Sch Elect Engn POB 14115-143 Tehran Iran Tarbiat Modares Univ Elect Engn Sch Intelligent Control Syst Lab Tehran Iran

ISBN: (纸本)9781424446018

This paper addresses parameter and state estimation problem in the presence of perturbation on observer gain for the Lipschitz systems that are linear in unknown parameters and nonlinear in states. A nonlinear adaptive resilient observer is designed, and its stability conditions based on Lyapunov technique are derived. The gain for this observer is derived systematically using linear matrix inequality approach. A numerical example is provided in which the nonlinear terms depend on unmeasured states. The simulation results are presented to show the effectiveness of the proposed method.

关键词： Linear matrix inequalities

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Sliding Mode control with Sliding Perturbation observer for Surgical Robots

Sliding Mode Control with Sliding Perturbation Observer for ...

引用

IEEE International symposium on Industrial Electronics (ISIE 2009)

作者： Song, Young-Eun Kim, Chi-Yen Lee, Min-Cheol Pusan Natl Univ Dept Mech Engn Pusan South Korea

ISBN: (纸本)9781424443475

Minimally invasive surgery (MIS) robot is made like a long cylinder with small diameter that can fit through a small incision thus decreasing the amount of healthy tissue damaged. Because of the shape of the surgical robot, the cable-driven mechanism is using to the robot. However this is a highly nonlinear system so the performance of the system is not so good. This paper applied a robust motion control algorithm. The algorithm uses partial state feedback for a class of nonlinear systems with modeling uncertainties and external disturbances. The major contribution is the design of a robust observer for the state and the perturbation of the instrument of the surgical robot, which is combined with a variable structure controller (VSC). The combination of controller and observer provides the robust routine called sliding mode control with sliding perturbation observer (SMCSPO). The control performance of the proposed algorithm is evaluated by the simulation and experiment to apply to a two-degree-of-freedom (HOF) robot arm. The results showed high accuracy and good performance.

关键词： Robotic surgery

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