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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41-50 订阅

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Forward tracking guidance law of non-singular fast dynamic surface sliding mode with dynamic characteristics 9

Forward tracking guidance law of non-singular fast dynamic s...

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9th International symposium on Sensors, Mechatronics, and Automation System, ISSMAS 2023

作者： Liu, Xiang 2nd Laboratory of 713th Research Institute China State Shipbuilding Corporation Limited Henan Zhengzhou450000 China

ISBN: (纸本)9781510672802

To solve the problem of forward tracking guided munition intercepting high-speed maneuvering targets and to ensure the guidance precision of forward tracking interception system, a novel forward tracking guidance algorithm based on the non-singular fast dynamic surface sliding mode is proposed in this study, which considers the influence of the dynamic characteristics for munition in the guidance system. Firstly, the influence of the manoeuvering ability for munition in the guidance system is considered, and then on the basis of the relative motion relation of the munition and the principle of forward tracking and interception, a forward tracking guidance system model with dynamic characteristics is established. Secondly, a nonlinear state observer is used to calculate the interference in the system. On this basis, a forward-tracking guidance law with dynamic characteristics is designed by using a non-singular fast dynamic surface sliding mode control method. Finally, the numerical simulation results show that compared with the traditional algorithm, the non-singular fast dynamic surface sliding mode forward tracking guidance law with dynamic characteristics can not only meet the design requirements but also has better guidance accuracy. © 2024 SPIE.

关键词： Detection and tracking algorithms Tunable filters design and modelling Missiles Error analysis Target designation Dynamical systems Motion models Systems modeling

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Disturbance observer-based fault-tolerant control of UAV with obstacle avoidance

Disturbance observer-based fault-tolerant control of UAV wit...

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2023 CAA symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2023

作者： Han, Liang Yu, Ziquan Yang, Zhongyu Cheng, Yuehua Jiang, Bin Zhang, Youmin Nanjing University of Aeronautics and Astronautics College of Automation Engineering Nanjing211106 China Concordia University Department of Mechanical Industrial and Aerospace Engineering MontrealQCH3G 1M8 Canada

ISBN: (纸本)9798350337754

This paper studies the fault-tolerant control (FTC) of fixed-wing unmanned aerial vehicle (UAV) with obstacle avoidance. Firstly, the path planning of the UAV is realized by improving the traditional artificial potential field (APF) method to achieve obstacle avoidance. The improved APF method solves the unreachable target and local minimum problems existing in the traditional APF. Secondly, the lumped uncertainty composed of the thrust fault, external disturbances and parameter inaccuracies is estimated by the nonlinear disturbance observer. In addition, an FTC scheme based on nonsingular fast terminal sliding mode (NFTSM) is proposed for UAV under thrust fault. Finally, simulation is used to confirm that the design plan is proper. © 2023 IEEE.

关键词： Fixed wings

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Fault Identification in Mechatronic Systems 13

Fault Identification in Mechatronic Systems

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13th IFAC symposium on Robot control (SYROCO)

作者： Zhirabok, Alexey N. Zuev, Alexander, V Shumsky, Alexey Ye Far Eastern Fed Univ Dept Automat & Robot Vladivostok 690950 Russia Inst Marine Technol Problems Dept Intelligent Control Russia 690950 Russia Sevastopol State Univ Sevastopol 299053 Russia

ISBN: (纸本)9781713867890

The paper studies the problem of fault identification in mechatronic systems described by nonlinear models under the disturbances. To address the problem, sliding mode observers are used. The suggested approach for constructing sliding mode observer is based on the reduced order model of the initial system. This allows reducing complexity of sliding mode observer and relaxing the restrictions imposed on the initial system. The obtained results are illustrated by the example of general electric servoactuator. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： nonlinear models fault identification reduced order models sliding mode observers

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A Holder -continuous Extended State observer for Rigid Body Attitude Dynamics 22

A Holder -continuous Extended State Observer for Rigid Body ...

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22nd International-Federation-of-Automatic-control (IFAC) symposium on Automatic control in Aerospace (ACA)

作者： Wang, Ningshan Sanyal, Amit K. Syracuse Univ Syracuse NY 13205 USA

ISBN: (纸本)9781713867890

Estimating rigid body attitude dynamics in the presence of unknown or uncertain torques, has applications to unmanned aerial, ground, (under)water and space vehicles. This work provides a new approach to estimating the attitude states and unknown, time-varying, (disturbance) torque vector acting on a rigid body, using an extended state observer. The observer design uses the concept of geometric homogeneity to obtain its stability. A Lyapunov stability analysis is carried out to prove its stability properties. The resulting observer for the attitude states and disturbance torque is smooth, Holder-continuous, and exhibits almost globally finite-time stable (AG-FTS) with a constant disturbance torque in body frame. These properties are theoretically shown, and a numerical simulation is carried out to demonstrate how the observer works in a realistic attitude estimation scenario.

关键词： Disturbance estimation nonlinear observers Attitude Dynamics

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Multi-objective Grid-based Lipschitz NLPV PI observer for Damper Fault Estimation 11th

Multi-objective Grid-based Lipschitz NLPV PI Observer for Da...

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11th International-Federation-of-Automatic-control (IFAC) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Gia Quoc Bao Tran Thanh-Phong Pham Sename, Olivier Univ Grenoble Alpes Grenoble Inst Engn Univ Grenoble Alpes CNRS GIPSA Lab F-38000 Grenoble France Univ PSL Ctr Automat & Syst CAS Mines Paris F-75006 Paris France Univ Danang Fac Elect & Elect Engn Univ Technol & Educ Danang Vietnam

Dampers in semi-active suspension systems may be subject to various types of damper faults, e.g., oil leakage and electrical issues, that need to be estimated for diagnosis and isolation purposes. A new method to design the so-called multi-objective grid-based Lipschitz nonlinear Parameter Varying (NLPV) Proportional Integral (PI) observer is here developed for damper fault estimation, where the fault is the loss of efficiency of the damper modeled as a slow-varying input. While the damper nonlinearity is bounded by the Lipschitz condition, the H-infinity and generalized H-2 conditions are used to minimize the effects of the input disturbance and the measurement noise, respectively, on the estimation error. Moreover, the observer is designed with Linear Matrix Inequalities (LMIs) formed and solved in a grid-based manner (considering a parameter-dependent Lyapunov function) to reduce the level of conservatism. Analyses in the frequency domain using Bode plots as well as in the time domain using realistic simulations illustrate the effectiveness of the proposed observer. Copyright (C) 2022 The Authors.

关键词： PI observer nonlinear Parameter Varying (NLPV) gridding fault estimation semi-active suspension

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Robust nonlinear observer design based on impulsive dissipativity 24

Robust nonlinear observer design based on impulsive dissipat...

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24th International symposium on Mathematical Theory of Networks and Systems (MTNS)

作者： Schaum, A. Feketa, P. Meurer, T. Moreno, J. A. Univ Kiel Chair Automat Control D-24148 Kiel Germany Univ Nacl Autonoma Mexico Inst Ingn Mexico City DF Mexico

The paper considers the design of a nonlinear dissipative impulsive observer based on non-periodic discrete-time measurements. Sufficient conditions are derived for (i) exponential convergence of the observer in absence of measurement uncertainty, and (ii) input-to-state stability (ISS) with respect to measurement uncertainty, by combining notions from impulsive and dissipative systems theory. The conditions mainly include constraints on the minimum and maximum time between measurements depending on system characteristics, the correction gain and the desired ISS gain. The results are illustrated with a numerical case example. Copyright (C) 2021 The Authors.

关键词： Dissipativity impulsive systems robustness nonlinear observer design measurement uncertainty

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Integrated design of Guidance and control for Hypersonic Vehicles Based on Disturbance Compensation

Integrated Design of Guidance and Control for Hypersonic Veh...

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Aerospace Engineering and Systems (ISAES), International symposium on

作者： Xiaotong Gu Jiahe Jiang School of Automation Science and Electrical Engineering Beihang University Beijing China

ISBN: (数字)9798350350418

ISBN: (纸本)9798350350425

This paper focuses on the challenge of designing an effective guidance and control system for the dive phase of hypersonic vehicles. To address this, an integrated approach is proposed, grounded in the principle of disturbance compensation. Firstly, a comprehensive guidance and control model is developed for hypersonic vehicles, which is founded on the motion model of the vehicle itself and the relative motion model describing the interaction between the vehicle and its target. Secondly, to compensate for the uncertainties in the model, a nonlinear disturbance observer is employed. The backstepping dynamic surface method is then utilized to complete the design of the integrated guidance and control system for hypersonic vehicles. Additionally, an appropriate Lyapunov function is selected to conduct a stability analysis of the system. In conclusion, simulations are carried out to validate the efficacy and resilience of the integrated guidance and control method proposed.

关键词： Uncertainty control design Integrated design Disturbance observers Stability analysis nonlinear dynamical systems Vehicle dynamics Hypersonic vehicles Resilience Lyapunov methods

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design of Simulink-based adaptive state estimator in dynamic positioning system of marine vessel 22

Design of Simulink-based adaptive state estimator in dynamic...

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22nd International symposium on Electrical Apparatus and Technologies, SIELA 2022

作者： Popov, Ivan Institute of Metal Science Equip. and Technol. with Hydro- and Aerodynamics Ctr. Acad. A. Balevski Bulgar. Academy of Sciences Varna Bulgaria

ISBN: (数字)9781665411394

ISBN: (纸本)9781665411394

Dynamic positioning (DP) systems such as marine position control systems have to maintain the position of the ship in a constantly changing environment. Using information from various sensors, the DP system estimates the position, attitude, and velocity of the ship as well as the disturbances caused by external forces such as waves, wind, and currents. The presented simulation model allows tuning and comparison between different wave filtering algorithms such as nonlinear passive observer (NPO), adaptive Kalman filter (AKF), adaptive extended Kalman filter (AEKF), and adaptive Unscented Kalman filter (AUKF) included in the feedback of the control system. © 2022 IEEE.

关键词： Dynamic positioning

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nonlinear control of Crane Systems Based on Intelligence Computing of Disturbance observer Under Mismatched Disturbance

Nonlinear Control of Crane Systems Based on Intelligence Com...

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International symposium on Parallel and Distributed Processing with Applications, ISPA

作者： Tianlei Wang Yiyan Wang Meng Xu Jiajie Tian Jingling Zhang Zhiyong Hong School of Electronic and Information Engineering Wuyi University Jiangmen China Jiangmen Key Laboratory of Kejie Semiconductor Bonding Technology and Control System Jiangmen China School of Mechanical and Automation Engineering Wuyi University Jiangmen China Guangdong Kejie Technology Co. Ltd Jiangmen China

ISBN: (数字)9798331509712

ISBN: (纸本)9798331509729

A control method based on disturbance observer is proposed to address the positioning drift issue of the gantry crane under unmatched disturbances, aiming at precise positioning of the trolley and effective payload swing angle attenuation in a variable-length two-dimensional lifting system. The control scheme comprises a combination of a proportional-derivative controller and a disturbance observer. Firstly, the design of the coupling function in this paper is based on the observation of the natural characteristics of the dynamical model. It cleverly designs the coupling function, which not only helps to effectively reduce the swing angle but also prevents the problem of positioning drift under non-matching disturbances, subsequently, design a controller by integrating intelligent computing with control theory. Secondly, the designed disturbance observer observes and compensates for the system output to achieve disturbance suppression. Thirdly, a thorough stability analysis has been conducted to demonstrate that the proposed controller satisfies the desired conditions. Finally, simulation results illustrate that the pro-posed method success-fully addresses the limitations of existing methods and exhibits superior performance and robustness.

关键词： Couplings Cranes Computational modeling Simulation Attenuation Disturbance observers Stability analysis Robustness Mathematical models Payloads

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Universal residual generator for nonlinear Euler-Lagrange systems 11th

Universal residual generator for nonlinear Euler-Lagrange sy...

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11th International-Federation-of-Automatic-control (IFAC) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Ye, Wenyan Zhang, Ping Tech Univ Kaiserslautern Inst Automat Control Erwin Schroedinger Str 12 D-67653 Kaiserslautern Germany

In this paper, a universal residual generator is proposed for nonlinear Euler-Lagrange systems to detect sensor faults. The proposed residual generator is characterized by a simple structure, easy implementation, low requirement on model knowledge of the nonlinear system and strong robustness to unknown disturbances and unmodelled dynamics. The key idea is to apply the time-delayed estimation technique, which was originally developed in the framework of controller design for robot manipulators. By the time-delayed estimation, the measurement information at the last time instant is used to estimate all the unknown factors in the system at the current time instant. A simulation example of the well-known industrial robot PUMA560 is used to illustrate the proposed approach and show the effectiveness of the proposed universal residual generator. Copyright (C) 2022 The Authors.

关键词： Fault detection Residual generation observer based methods Robustness

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