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design of observers for Lipschitz nonlinear systems using LMI 6

Design of observers for Lipschitz nonlinear systems using LM...

引用

6th IFAC symposium on nonlinear control Systems, NOLCOS 2004

作者： Alessandri, A. Institute of Intelligent Systems for Automation ISSIA-CNR National Research Council of Italy Via De Marint 6 Geneva16149 Italy

The problem of constructing full-order slate estimators for a class of systems with Lipschitz nonlinearities is addressed. By using Lyapunov functions and functional, conditions have been found that guarantee the asymptotic stability of the estimation error. Such conditions can be conveniently expressed by means of Linear Matrix Inequalities (LMIs). Simulation results are reported to show the effectiveness of the proposed observer design methods. Copyright © 2004 IFAC.

关键词： Lyapunov functions

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A further result on global stabilization of uncertain nonlinear systems by output feedback 6

A further result on global stabilization of uncertain nonlin...

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6th IFAC symposium on nonlinear control Systems, NOLCOS 2004

作者： Yang, Bo Lin, Wei Dept. of Electrical Engineering and Computer Science Case Western Reserve University ClevelandOH44106 United States

For a family of uncertain nonlinear systems dominated by a triangular system that satisfies linear growth condition with an output dependent growth rate, we prove that global robust stabilization can be achieved by smooth output feedback. This conclusion has incorporated and generalized the recent output feedback stabilization results, for instance, the work (Qian and Lin, 20026) where the same conclusion was already shown to be true for planar systems, and the work (Praly and Jiang, 2003) where the growth rate is required to be a polynomial function of the system output-There are two key ingredients in the present contribution. One of them is the introduction of a reseating transformation with a dynamic factor that is tuned on-line through a Riccati-like differential equation, which turns out to be extremely effective in dealing with the system uncertainty. The other one is the development of a recursive observer design algorithm making it possible to assign the robust observer gains in a step-by-step Fashion. Both a smooth state feedback controller and a robust observer are explicitly constructed for the restated system using only the knowledge of the bounding system. Copyright © 2004 IFAC.

关键词： Robust control

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Adaptive tuning of bifurcation for time-varyinc nonlinear systems 6

Adaptive tuning of bifurcation for time-varyinc nonlinear sy...

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6th IFAC symposium on nonlinear control Systems, NOLCOS 2004

作者： Efimov, D.V. Fradkov, A.L. Control of Complex Systems Laboratory Institute of Problem of Mechanical Engineering Bolshoi av. 61 V.O. St-Perersburg199178 Russia

An adaptive output feedback control algorithm providing exact tuning of adjustable parameters to unknown values, which ensure for the system desired biturcation properties is proposed. Algorithm is based on passification based adaptive observer design. Several application examples are presented and illustrated by simulation results. Copyright © 2004 IFAC.

关键词： Adaptive control systems

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Circle criterion observer design for a class of nonlinear systems with bad trajectories 6

Circle criterion observer design for a class of nonlinear sy...

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6th IFAC symposium on nonlinear control Systems, NOLCOS 2004

作者： Moreno, Jaime A. Ap. Postal 70-473 Mexico D.F.04510 Mexico ISR University of Stuttgart Germany

A necessary condition for the existence of global observers is the detectability of the plant, i.e. the convergence of indistinguishable trajectories. If non converging indistinguishable trajectories exisl, i.e. so called bad trajectories, then no (strong) observer exists. In this paper weak observers are proposed for a class of systems that can have bad trajectories. The convergence is assured for a set of plant's trajectories that excludes the bad ones. This set is characterized by conditions on the plant's trajectories that resembles and generalizes the persistently exciting conditions, well-known in the identification and adaptive control literature. Copyright ©200]4 IFAC.

关键词： Trajectories

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nonlinear model predictive control of multicomponent distillation columns using wave models 7th

Nonlinear model predictive control of multicomponent distill...

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7th International symposium on Advanced control of Chemical Processes, ADCHEM 2003

作者： Grüner, S. Schwarzkopf, S. Uslu, I. Kienle, A. Gilles, E.D. Institut für Systerndynamik und Regelungstechnik Universität Stuttgart Germany Max-Planck-Institut für Dynamik komplexer Technischtr Systeme Magdeburg Germany Institut für Automatisierungstechnik Otto von Guericke Universitat Magdeburg Germany

A novel control concept for multicomponent distillation columns is presented. The concept is based on nonlinear wave-propagation phenomena that occur in counter-current separation processes. On this basis a reduced order model has been developed in previous work that not only considers profile positions but also the profile shape itself. The reduced model gives direct access to key parameters of the plant, such as the separation front positions. Furthermore, it allows real-time computations for multicomponent distillation columns. Such a model is used for both, the nonlinear model predictive control (NMPC) and the observer design. The observer uses temperature measurements and gives estimated temperature and concentration profile positions as well as compositions in the product streams. The robustness of the observer is shown intuitively and in simulation studies. The control of multicomponent distillation is formulated within the NMPC framework by penalising the deviation of the front positions from their reference points and ensuring the product specifications by means of constraints. By directly taking account of product specifications the presented control concept differs from inferential control schemes known from literature. Due to the fact that the concept is based on simple temperature measurements an industrial application seems easily possible. © 2004 IFAC

关键词： Distillation columns

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Attitude control of n-dimensional rigid body with angular velocity observer 6

Attitude control of n-dimensional rigid body with angular ve...

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6th IFAC symposium on nonlinear control Systems, NOLCOS 2004

作者： Sakamoto, Noboru Suzuki, Hidetoshi Nagoya University Nagoya Japan Mitsubishi Heavy Industries Ltd. Nagoya Japan

In this paper we attempt to give a complete solution to the attitude control problem of rigid body without angular velocity measurement. The problem to be solved is attitude tracking problem with the so-called reduction property in the sense that the proposed control law reduces to the one that achieves setpoint regulation when the desired trajectory is stationary. The eminent feature of the approach in this paper is that we do not use coordinate systems on SO(3) to describe the attitude of rigid body and consider generalized rigid body of dimension n. We also employ the Hamiltonian formulation for the rigid body dynamics to focus on energy dissipation. In this framework it is possible to design an observer for generalized rigid body and prove closed-loop stability, a separation principle, which has been conjectured but not yet been shown. Copyright © 2004 IFAC.

关键词： Attitude control

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Robust stabilization of uncertain high order systems via smooth output feedback 6

Robust stabilization of uncertain high order systems via smo...

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6th IFAC symposium on nonlinear control Systems, NOLCOS 2004

作者： Lin, Wei Yang, Bo Dept. of Electrical Engineering and Computer Science Case Western Reserve University ClevelandOH44106 United States

We investigate the robust stabiuzation problem for a family of uncertain nonlinear systems with uncontrollable/unobservable linearization. To achieve global robust stabibzation using a single output feedback controller, we introduce a repealing transformation with an appropriate dilation, which turns out to be very effective in dealing with uncertainty of the system. Using this repealing technique combined with the non-separation principle based design methods (Qian and Lin, 2002a;Yang and Lin, 2003), we develop a robust output feedback control scheme for uncertain nonlinear systems satisfying a homogeneous growth condition. Both a smooth state feedback controller and a homogeneous observer are designed for the resceled system using only the knowledge of the bounding system rather than the uncertain system itself. Copyright © 2004 IFAC.

关键词： design

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Friction compensation in a controlled one-link robot using a reduced-order observer 6

Friction compensation in a controlled one-link robot using a...

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6th IFAC symposium on nonlinear control Systems, NOLCOS 2004

作者： Van De Wouw, Nathan Mallon, Niels Nijmeijer, Henk Eindhoven University of Technology Department of Mechanical Engineering P.O. Box 513 Eindhoven5600 MB Netherlands

Friction compensation in a controlled one-link robot using a reducedorder observer is studied. Since friction is generally velocity-dependent and controlled mechanical systems are often only equipped with position sensors, friction compensation requires velocity estimation. Here, a reduced-order linear observer is used for this purpose. For exact friction compensation, design criteria in terms of the controller and observer parameter settings guaranteeing global exponential stability of the set-point are proposed. Moreover, for non-exact friction compensation it is shown that undercompensation leads to the existence of an equilibrium set and overcompensation leads to limit cycling. These results are obtained both numerically and experimentally. Copyright © 2004 IFAC.

关键词： Stability criteria

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Software sensor design for cement grinding circuits-practical issues 11

Software sensor design for cement grinding circuits-practica...

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11th IFAC symposium on Automation in Mining, Mineral and Metal Processing, MMM 2004

作者： Lepore, R. Vande Wouwer, A. Remy, M. Bogaerts, Ph. Laboratoire d'Automatique Faculte Polytechnique de Mons Boulevard Dolez 31 MonsB-7000 Belgium Universite Libre de Bruxelles Belgium

Due to the lack of reliable and/or inexpensive hardware sensors in cement grinding, development of software sensors is particularly significant for control and monitoring purposes, In this study, a nonlinear distributed-parameter, full-horizon observer is designed, which allows the contents of the mill to be described in terms of hold-up and particle size distribution. When measurements are available at relatively high sampling rates and at, at least, two spatial locations along the mill, fast observer convergence is obtained. However, in practical situations where measurements can be collected at the mill outlet only and with a relatively low sampling rate, the observer convergence deteriorates, as the sampling rate decreases, performance becomes similar to an asymptotic (simulation) observer. The robustness of the software sensor can be improved by on-line identification of some time-varying parameters, such as the material grindability. These several concepts are discussed and tested in simulation based on a realistic process model. Copyright © 2004 IFAC.

关键词： Particle size analysis

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Fault diagnosis on satellite attitude control with dynamic neural network

Fault diagnosis on satellite attitude control with dynamic n...

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International symposium on Neural Networks (ISNN 2004)

作者： Hao, HY Sun, ZQ Zhang, Y Tsing Hua Univ Dept Comp Sci & Technol State Key Lab Intelligent Technol & Syst Beijing 100084 Peoples R China

ISBN: (纸本)3540228438

With increasing demands on higher performance, more safety and reliability of dynamic systems, especially on safety-critical systems, fault diagnosis became a research interests in recent years. In this paper, a systematic approach to design fault diagnosis and accommodation with compound approach such as applying improved robust observer to fault diagnosis on linearized system aided by dynamic neural network, which is trained to bridge the gap between simulated system and real system on nonlinear attributes and modeling errors. Using an instance of fault diagnosis on attitude control system of satellite attitude, advantages of new scheme are tested to be effective.

关键词： Failure analysis

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