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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81-90 订阅

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observer Synthesis for the Adhesion Estimation of a Railway Running Gear 8

Observer Synthesis for the Adhesion Estimation of a Railway ...

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8th International-Federation-of-Automatic-control (IFAC) symposium on Mechatronic Systems (MECHATRONICS) / 11th International-Federation-of-Automatic-control (IFAC) symposium on nonlinear control Systems (NOLCOS)

作者： Schwarz, Christoph Keck, Alexander German Aerosp Ctr DLR Inst Syst Dynam & Control D-82234 Wessling Germany

The presented work illustrates an investigation on the observer synthesis for a highly nonlinear railway running gear system. The specific focus is on the longitudinal dynamics and the associated adhesion effects, i.e. the friction conditions between wheel and rail. This interface strongly influences the brake and the traction performance of trains and, thus, its detailed consideration is of crucial importance in terms of safety and comfort. The observer design is accomplished for the experimental running gear developed at the German Aerospace Center (DLR). The article focuses on the first steps of the observer synthesis: (i) the set-up of the observer model, (ii) the selection of an appropriate observer method, (iii) and the validation of the observer in a simulation environment. The determining aspect of the model implementation is the consideration of the nonlinear wheel-rail contact. To cover this nonlinear behavior an Extended Kalman Filter (EKF) is used in combination with a parameter estimator for the friction characteristics in the wheel-rail interfaces. In the end, the received results prove that the observer accurately estimates the system behavior and provides reliable information on the adhesion characteristics and related longitudinal dynamics. Based on this findings one of the upcoming steps at the DLR is to validate the observer in the real-time environment of the test rig. Regarding the use of the presented approach in a train some significant improvements of traction control systems are enabled. A first application could be an enhanced brake control to narrow down the variance of brake distances in daily operation. Furthermore, an advanced usability of the condition based monitoring of traction and brake systems is facilitated with the additional information on the friction conditions. (C) 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Rail traffic nonlinear systems adhesion Extended Kalman filter

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Stance Phase control System of a Jumping Robot 7

Stance Phase Control System of a Jumping Robot

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7th IFAC symposium on System Structure and control (SSSC) jointly held with the 15th IFAC Workshop on Time Delay Systems (TDS)

作者： Ivanescu, Mircea Univ Craiova Craiova Romania

The paper treats the control of the jumping robot during the stance phase using the fractal model of the system. Considering an actuation system based on the Electro-Rheologic (ER) fluid controller, a fractal model is inferred. The linearized model and nonlinear models are studied and control frequential laws are proposed using YKP criterions. observer models are proposed for linear and nonlinear systems and the global stability for "system-observer" is studied by Lyapunov techniques. Numerical simulations are presented. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

关键词： robotics control stability observer frequential criterion

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observer design for a railway running gear with independently rotating wheels 8

Observer design for a railway running gear with independentl...

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作者： Keck, Alexander Schwarz, Christoph Meurer, Thomas German Aerosp Ctr Inst Syst Dynam & Control Munchener Str 20 D-82234 Oberpfaffenhofen Germany Univ Kiel Chair Automat Control Fac Engn Kaiserstr 2 D-24143 Kiel Germany

The German Aerospace Center bundles its railway research in the long-term project "Next Generation Train" (NGT). The NGT is a high speed train concept in light-weight design and double-deck configuration. To reduce wheel and rail wear and to enhance the passenger capacity, a mechatronic running gear with independently rotating wheels (IRW) is designed. This configuration requires an advanced control of the lateral dynamics in order to fully exploit the potential in minimizing wear and noise. In terms of a model-based control design, the controller performance highly depends on the estimated lateral position of the running gear relative to the track. In a practical environment it is difficult to directly measure this displacement of the wheel-pair. Therefore this article deals with the question which sensor configuration enables an appropriate estimation of the lateral displacement and is suitable for observer design. Hence, an observability analysis and an observer synthesis to estimate the lateral position for the nonlinear system of the 1:5 scaled hardware running gear is carried out. For validation purposes three estimators are implemented at the real-time environment of the testbed and the estimation errors of the observer configurations are compared. (C) 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： nonlinearity Observability observers Extended Kalman filters Railways

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nonlinear Robust Disturbance observer Based control for Bicycle with CMG Stabilizer 10th

Nonlinear Robust Disturbance Observer Based Control for Bicy...

引用

10th IFAC symposium on Intelligent Autonomous Vehicles IAV

作者： Rozewicz, Maciej Pilat, Adam Akad Gorniczo Hutnicza M Stanislawa Staszica Al Adama Mickiewicza 30 PL-30059 Krakow Poland

This paper is extension of previous work of authors, where model of single track vehicle with gyroscopic stabilizer was derived and some control algorithms were proposed. This paper is focused on comparison between earlier presented control algorithms and nonlinear disturbance observer-based controller with disturbance rejection. In authors intentions this is next step to create Active Stabilizing Assistant System (ASAS), which is extension of Active Safety systems to Single Track vehicles (STV). (C) 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Bicycle Stabilization Robust control Disturbance Rejection CMG Active Safety

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Adaptive nonlinear Regulator design via Immersion and Invariance 11

Adaptive Nonlinear Regulator Design via Immersion and Invari...

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作者： Wang, Lei Kellett, Christopher M. Univ Newcastle Fac Engn & Built Environm Callaghan NSW Australia

This paper studies the adaptive output regulation problem for a class of nonlinear systems. Under a mild immersion condition, a novel adaptive internal model is proposed by using immersion and invariance (I&I) adaptive control and incorporating a high-gain observer. This, together with a high-gain feedback, is shown to be able to solve the desired regulation problem in a semiglobal sense. (C) 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： nonlinear systems adaptive internal model immersion and invariance high-gain observer

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Iterative Learning Approaches for Discrete-Time State and Disturbance observer design of Uncertain Linear Parameter-Varying Systems 8

Iterative Learning Approaches for Discrete-Time State and Di...

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作者： Rauh, Andreas Kersten, Julia Aschemann, Harald Univ Rostock Chair Mechatron D-18051 Rostock Germany

Iterative learning approaches are well developed for the design of feedback controllers of dynamic systems which perform identical control tasks during multiple successive executions. Such tasks are characterized by identical reference trajectories in each of the iterations to be run. Exploiting this information, it becomes possible to reduce tracking errors by adapting the control signal not only on the basis of information of the state variables from the current iteration but also by accounting for the history of the tracking errors from previous trials. Although such control strategies are part of an active field of research, the corresponding dual task, namely, the design of state and disturbance observers for systems with successively repeated state trajectories has not yet received the same amount of attention. Therefore, a discrete-time iterative learning observer design, aiming at the combined state and disturbance estimation, is presented in this paper. The resulting approach is validated in numerical simulations for the simplified model of the charging/discharging dynamics of Lithium-Ion battery systems. (C) 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： observer design iterative learning approaches linear matrix inequalities Lyapunov stability disturbance estimation

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Application of Enhanced Extended observer in Station-Keeping of a Quadrotor with Unmeasurable Pitch and Roll Angles 11

Application of Enhanced Extended Observer in Station-Keeping...

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作者： Borisov, Oleg I. Pyrkin, Anton A. Isidori, Alberto ITMO Univ Fac Control Syst & Robot St Petersburg Russia Innopolis Univ Ctr Technol Robot & Mechatron Components Innopolis Russia Univ Roma La Sapienza Dept Comp Control & Management Engn A Ruberli Rome Italy

In this paper we provide an example of application of the design of a control law that makes use of an enhanced version of the so-called extended observer. The enhancement in question reposes on the extension of a classical Lemma due to Dayawansa to the case of nonlinear systems whose normal form includes time-varying (and measurable) gains. The presented example concerns a station-keeping problem of a quadrotor with unmeasurable pitch and roll angles. (C) 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Dayawansa's lemma Robust observers nonlinear systems High-gain observers Quadrotors

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LPV Force observer design and Experimental Validation from a Dynamical Semi-Active ER Damper Model 7

LPV Force Observer Design and Experimental Validation from a...

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7th IFAC symposium on System Structure and control (SSSC) jointly held with the 15th IFAC Workshop on Time Delay Systems (TDS)

作者： Thanh-Phong Pham Sename, Olivier Dugard, Luc Van Tan Vu Univ Grenoble Alpes CNRS Grenoble INP GIPSA Lab F-38000 Grenoble France Univ Grenoble Alpes Inst Engn Grenoble France Univ Danang Fac Elect & Elect Engn Univ Technol & Educ Danang 550000 Vietnam Univ Transport & Commun Dept Automot Mech Engn Hanoi Vietnam

This paper presents an LPV damping force observer of ElectroRheological (ER) dampers for a real automotive suspension system, taking the dynamic characteristic of damper into account. First, an extended nonlinear quarter-car model is considered, where the time constant representing the damper dynamics is varying according to the control level. This is rewritten as an LPV model which is used to design an LPV observer. The objective of the LPV observer is to minimize the effects of bounded unknown input disturbances (unknown road profile and measurement noises) on the state estimation errors through an H-infinity criterion, while the damper nonlinearity is bounded using a Lipschitz condition. Two low-cost accelerometers (the sprung mass and the unsprung mass accelerations) are used as inputs for the proposed methodology only. To experimentally assess the proposed approach, the observer is implemented on the 1/5-scaled real vehicle-INOVE testbench of GIPSA-lab. Experiments shows the ability of the observer to estimate the damper force in real-time, face to unknown inputs disturbance and sensor noises. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

关键词： LPV observer Semi-active suspension Electrorheological damper Lipchitz nonlinearity damping force estimation

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Multivariable Disturbance observer Based control with the Experiment on an Active Magnetic Bearing Spindle 8

Multivariable Disturbance Observer Based Control with the Ex...

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作者： Rouhani, Shahin Tsao, Tsu-Chin Speyer, Jason L. Univ Calif Los Angeles Los Angeles CA 90095 USA

This paper presents a new method of disturbance observer based control (DOBC) for multi-input-multi-output (MIMO) highly-coupled unstable systems based on the game theory and the H-infinity synthesis. First motivated by the Youla parameterization of full order state observer feedback control, a full order state observer (FOSO) based DOBC is proposed for single-input-single-output (SISO) systems. Then inspired by the FOSO based DOBC design, a disturbance decoupling method is proposed for MIMO systems using game theoretic observer design. By using error dynamics from the proposed observers, single-input-multi-output (SIMO) virtual plants are constructed. Inverses of those virtual plants for a certain bandwidth are found by solving the model matching problem using H-infinity solver. The proposed DOBC is applied to an open loop unstable MIMO Active Magnetic Bearing Spindle (AMBS). Simulation and experimental results show that the disturbances are effectively estimated and compensated. (C) 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： disturbance estimation game theory optimization detection algorithms observers active magnetic bearing high speed machining

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Step-by-step implicit discrete super-twisting differentiator for input-output linearizable nonlinear systems 11

Step-by-step implicit discrete super-twisting differentiator...

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作者： Chairez, Isaac Inst Politecn Nacl UPIBI Bioproc Dept Mexico City DF Mexico Tecnol Monterrey Sch Engn Campus Guadalajara Monterrey NL Mexico

The aim of this study was to design a step-by-step numerical differentiator for a class of discretized version of a n-th chain-of-integrator system based on the application of the implicit discretization of the super-twisting algorithm (STA). The high-order differentiator reconstructed the non-measurable states of an input-output linearizable systems. The gains of the observer were calculated based on the application of a class of generalized functions. The convergence analysis showed that all the states in the linearized system achieved an invariant set with a predefined size. The existence of this invariant set depends on the uniqueness of the solution for the generalized function. A simple interpretation of a possible exact reconstruction of the non-measurable states of the implicit discretized form. The application of the implicit discretized STA served to design a class of observer for the microalgae culture system. (C) 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Sliding mode Super-twisting algorithm Numerical differentiator Discrete sliding mode

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