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B-spline output feedback control for nonlinear systems

B-spline output feedback control for nonlinear systems

引用

6th International symposium on Neural Networks, ISNN 2009

作者： Leu, Yih-Guang Lin, Jian-You Chen, Chun-Yao Department of Applied Electronics Technology National Taiwan Normal University 162 Ho-Oing E. Road Taipei Taiwan

ISBN: (纸本)3642015093

This paper proposes an adaptive B-spline output feedback controller for unknown nonlinear systems with only system output measurement. The controller integrates an error observer and B-spline neural networks into adaptive control design. The error observer is used to estimate the tracking errors through output measurement information, and the B-spline neural networks are utilized to online approximate an unknown control input by adjusting their internal parameters, including control points and knot parameters. In addition, simulation results demonstrate the feasibility of the proposed controller. © 2009 Springer Berlin Heidelberg.

关键词： controllers

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Simulation of nonlinear identification and control of unmanned aerial vehicle: An artificial neural network approach

Simulation of nonlinear identification and control of unmann...

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2009 9th International symposium on Communications and Information Technology, ISCIT 2009

作者： Rimal, Bhaskar Prasad Shin, Hyoim Choi, Eunmi Graduate School of Business IT Kookmin University Jeongneung-Dong Seongbuk-Gu Seoul 136-702 Korea Republic of

ISBN: (纸本)9781424445219

Artificial Neural Networks (ANNs) are widely applied nowadays for classification, identification, control, diagnostics, recognition, etc. They can be implemented for identification of dynamic systems. The concept of ANN is highly used in design and simulation of control system of Unmanned Aerial Vehicles (UAVs). controller design for UAV is subject to time varying and non-linear model parameters. The objective of this work is to simulate the nonlinear identification of a dynamic system which is based on its response to standard signals. The non linear identification of the state space methods is based on model reference control. For model reference control, the controller is a neural network that is trained to control a plant so that it follows a reference model. The neural network plant model is used to assist in the controller training. In this paper we simulate the modeling capabilities of a state space neural network, to act as an observer for a non-linear process allowing a simultaneous estimation of parameters and states. ©2009 IEEE.

关键词： Neural networks

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Robust Generalized PI Sliding Mode control for the Induction Motor

Robust Generalized PI Sliding Mode Control for the Induction...

引用

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

作者： Cortes-Romero, John Luviano-Juarez, Alberto Sira-Ramirez, Hebertt Univ Nacl Colombia Fac Ingn Dept Ingn Elect & Elect Carrera 30 45-03 Bogota Colombia CINVEST IPN Dept Ingn Elect & Sect Mecatronica Mexico City 07360 DF Mexico

ISBN: (纸本)9781424446018

In this article, we propose a two stage control design scheme for simultaneous flux regulation and angular position reference trajectory tracking in induction motors. The first outer loop design stage uses a linear GPI observer based robust control, aimed at on-line load torque estimation, thus making possible its cancelation from the controller. The stator currents act as auxiliary control input variables, within a field oriented control scheme, which uses a nonlinear asymptotic flux reconstructor. The designed current signals are used then as reference trajectories for the second, inner loop, design stage, corresponding to a switched stator input voltage strategy based on an average Generalized Proportional Integral control design. This average design defines a discontinuous control input by means of a properly set sign function on the input tracking error. The second controller design stage, largely overcomes the effects of nonlinearities, including unknown motor parameters, present in the rotor voltages-to-rotor currents multi-variable dynamics.

关键词： Induction motors

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Evaluating control designs for co-ordinating pump rates and choke valve during managed pressure drilling operations

Evaluating control designs for co-ordinating pump rates and ...

引用

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

作者： Breyholtz, Oyvind Nygaard, Gerhard Godhavn, John-Morten Vefring, Erlend H. Int Res Inst Stavanger Petr Dept N-5008 Bergen Norway Res Ctr Trondheim StatoilHydro ASA N-7005 Trondheim Norway

ISBN: (纸本)9781424446018

When drilling into a petroleum reservoir it is critical to maintain a required downhole pressure to avoid well bore fracture or influx of petroleum fluids. Drilling into mature and often depleted petroleum fields may be difficult due to tight pressure margins. This paper evaluates various automatic control designs for co-ordinating pump rates and choke valve during managed pressure drilling operations. The main focus is on evaluating a nonlinear model predictive controller based on a low-order model for automatic co-ordination of main mud pump, backpressure pump and topside choke opening to control the bottom hole pressure in the well. The nonlinear model predictive control designs are compared with a single input single output PI controller. In addition, the control designs are also combined with a downhole pressure observer. The various control designs are evaluated by computer simulation with a high-fidelity dynamic multi-phase flow model based on a North Sea off-shore drilling operation. The results show that introducing a nonlinear model predictive control design for co-ordinating the pump rates and choke valve both improves the downhole pressure control and also significantly simplifies the procedure for the drilling crew.

关键词： controllers

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Direct prediction-error identification of unstable nonlinear systems applied to flight test data

Direct prediction-error identification of unstable nonlinear...

引用

15th IFAC symposium on System Identification, SYSID 2009

作者： Larsson, Roger Sjanic, Zoran Enqvist, Martin Ljung, Lennart Linköping University Linköping 581 83 Sweden Saab Aerosystems Linköping 581 88 Sweden

ISBN: (纸本)9783902661470

control system design for advanced, highly agile fighter aircraft, with unstable nonlinear aerodynamic characteristics, rely heavily on flight mechanical simulations. This makes the accuracy of the aerodynamic model in the simulators very important. Here, two methods for estimating parameters of nonlinear unstable systems where the control system is unknown are presented. Both approaches are direct prediction-error methods, either with a directly parametrized observer or with an Extended Kalman Filter as a predictor. These methods have been validated on simulated data, as well as on real flight test data and all approaches show promising results. © 2009 IFAC.

关键词： Forecasting

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Adaptive threshold generation for robust fault detection using interval LPV observers

Adaptive threshold generation for robust fault detection usi...

引用

7th IFAC International symposium on Fault Detection, Supervision and Safety of Technical Systems, SAFEPROCESS'09

作者： De Oca, Saul Montes Puig, Vicenc Advanced Control Systems Group Universitat Politenica de Catalunya Pau Gargallo 5 08028 Barcelona Spain

ISBN: (纸本)9783902661463

In this paper, adaptive threshold generation for robust fault detection of nonlinear system described by means of a Linear Parameter Varying (LPV) model is analyzed. Uncertainties due to parameter variations are considered unknown but bounded by intervals. Their effect is addressed using an interval LPV observer based on zonotopes. The design procedure of this observer is implemented via pole placement using LMIs. The optimal threshold is generated by evaluating the worst-case residual's energy evolution in the time domain. When this adaptive threshold is used, the minimum detectable fault is characterized. Finally, an application example based on a two-degree freedom helicopter will be used to assess the validity of the proposed approach. © 2009 IFAC.

关键词： Fault detection

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Simultaneous fault and state estimation in time-delay nonlinear systems having triangular form

Simultaneous fault and state estimation in time-delay nonlin...

引用

IEEE International symposium on Industrial Electronics (ISIE)

作者： Salim Ibrir University of Trinidad and Tobago Trinidad and Tobago

This paper investigates the problem of simultaneous fault and state estimation of either bounded state or globally Lipschtiz nonlinear systems subject to time delay and unknown input. We assume that the system has a triangular structure and the fault is a scalar and polynomial time dependent function. Based on the Lyapunov analysis method, we show that the observer design is related to neither delay dependent nor delay independent conditions, irrespective of the size of the delay. Simulation results along with a proof of convergence of the observer are given to highlight the efficacy of the proposed design.

关键词： State estimation nonlinear systems Delay Circuit faults Automatic control control systems observers Sensor systems Fault detection Electronics industry

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Sliding mode control with sliding perturbation observer for surgical robots

Sliding mode control with sliding perturbation observer for ...

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IEEE International symposium on Industrial Electronics (ISIE)

作者： Young-Eun Song Chi-Yen Kim Min-Cheol Lee Department of Mechanical Engineering Pusan National University Busan South Korea

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 (DOF) robot arm. The results showed high accuracy and good performance.

关键词： Sliding mode control Medical robotics Robots Robust control Minimally invasive surgery nonlinear systems Shape Motion control State feedback Uncertainty

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Output Feedback for a Class of Non-affine nonlinear System via Neural Networks

Output Feedback for a Class of Non-affine Nonlinear System v...

引用

International symposium on Computational Intelligence and design, ISCID

作者： Tong Zhao Pin Zhao Dept. of Autom. Control Qingdao Univ. of Sci. & Technol. Qingdao China

An adaptive output feedback control scheme is proposed for a class of non-affine nonlinear system in which the output signal can track the reference signal. A state observer is constructed to estimate the unknown state in system. A three-layer neural network is introduced to compensate the modeling errors and a Robust control is also used to reduce the approximation error, which adds to the anti-interference ability of the system. The stability of the system is accurately proved. Simulation results demonstrate the effectiveness and feasibility of proposed scheme.

关键词： Output feedback nonlinear systems Neural networks Adaptive systems Programmable control Adaptive control nonlinear control systems control systems observers State estimation

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design of a bilinear robust controller for a hydrostatic driver

Design of a bilinear robust controller for a hydrostatic dri...

引用

IEEE International symposium on Industrial Electronics (ISIE)

作者： Rai-Wung Park Kyung-Tae Lee Department of Technology Education Daebul University ChungNam South Korea Department of Industrial Engineering Daebul University ChungNam South Korea

The aim of this paper is to present a new method of designing a bilinear robust controller in a nonlinear system. This is an alternative and advanced method to control a shaking system with a heavy mass showing troublesome nonlinear effects. For this design procedure, a keel driven by a hydro-rotating driver is given. As the first step, the keel is physically modeled with a number of the limited masses. and based on a physical model the dynamic mathematical model is derived using the finite element method in respect to the Hamilton principle; thus, the system is represented by various subsystems. This is a reference system for the given physical system. Based on a physical model for rotating and transit behavior induced from movement phenomena measured at the bearings on the driver. Then the system is transformed into the bilinear system and based on this system, an bilinear elementary observer is designed to control the behavior of the keel in a yacht. The information for the given system are the measurements of the torque in the driver, velocity and fluid in the valves.

关键词： Robust control control systems Mathematical model nonlinear control systems nonlinear systems design methodology Weight control nonlinear dynamical systems Finite element methods Motion measurement

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