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IEEE International Conference on Mechatronics (ICM)

作者： Noack, Matti Reger, Johann Jouffroy, Jerome Ilmenau Univ Technol Control Engn Grp Ilmenau Germany Univ Southern Denmark SDU SDU Mechatron Sonderborg Denmark

ISBN: (纸本)9781665466615

Information about the internal position and velocity of a robotic system is crucial for its control. Especially, under uncertain models, changing dynamic parameters and noisy position measurement signals, an adaptive differentiation is needed combining structural knowledge of the model with adequate filtering of the sensor data. To this end, the modulating Function Method is applied to the Lagrange formulation of the robotic system to preserve the structure while enabling to incorporate nonlinear terms into the integral transform methodology. Different types of modulating functions and the function projection approach are used to develop a simultaneous parameter and state estimation procedure for the general structure of open kinematic chains. The developed algorithm for an adaptive velocity estimation is capable of robustly reconstructing the generalized state and consists of an efficient Finite Impulse Response (FIR) filter type implementation. The resulting architecture is demonstrated on a two-link robot setup.

关键词： modulating functions robotic equation Lagrange formalism simultaneous parameter and state estimation

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modulating functions Approach for Non-asymptotic State Estimation of Nonlinear PDEs

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IFAC-PapersOnLine 2023年第2期56卷 9875-9880页

作者： Lilia Ghaffour Matti Noack Johann Reger Taous Meriem Laleg-Kirati Computer Electrical and Mathematical Science and Engineering Division (CEMSE) King Abdullah University of Science and Technology (KAUST) Thuwal 23955-6900 Saudi Arabia Technische Universität Ilmenau Department of Computer Science and Automation Ilmenau Germany Taous Meriem Laleg-Kirati is affiliated with the National Institute for Research in Digital Science and Technology Paris-Saclay France

In this paper, a non-asymptotic state estimation method for a class of nonlinear partial differential equations with general boundary conditions is presented. The method combines the modulating functions method and the Newton iterative approach. The modulating functions method is instructive to simplify the state estimation problem into solving nonlinear systems of equations, to be accomplished by Netwon's method. The performance of the proposed approach is tested through a numerical example.

关键词： Nonlinear partial differential equations non-asymptotic estimation modulating functions

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A novel modulating functions-based non-asymptotic fractional order state differentiator for DC motor systems

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COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION 2024年 138卷

作者： Wang, Lei Liu, Da-Yan Huang, Liang Gibaru, Olivier HESAM Univ Arts & Metiers Inst Technol LISPEN F-59000 Lille France Univ Orleans INSA Ctr Val Loire PRISME EA 4229 F-18022 Bourges France Aalborg Univ AAU Energy DK-9220 Aalborg Denmark

A novel modulating functions (MFs)-based fractional order state differentiator is proposed for a DC motor system in this paper, which is non-asymptotic and robust against noises. The present method allows estimating not only the state of the DC motor system (e.g., current and rotor speed) but also its fractional derivative and integral, which can be used to design fractional order controllers for the DC motor. To begin, we convert the state-space model of the DC motor into the observable canonical form. Subsequently, we proceed with the transformation into a kind of fractional order system. On this basis, the MFs method is used to obtain algebraic formulas for velocity, current and their fractional derivatives and integrals. Moreover, the process of designing the required MFs is given. Finally, simulations and comparison results demonstrate the efficiency and robustness of the proposed method. Furthermore, a fractional order PID controller is designed for the DC motor to verify the accuracy of the proposed estimation strategy.

关键词： DC motor system Fractional order differentiator modulating functions Non-asymptotic and robust estimation Algebraic formulas Fractional order PID controller

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Iterative Learning Based modulating functions Method for Distributed Solar Source Estimation

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IEEE CONTROL SYSTEMS LETTERS 2021年第6期5卷 1970-1975页

作者： Aljehani, Fahad Laleg-Kirati, Taous-Meriem King Abdullah Univ Sci & Technol Comp Elect & Math Sci & Engn Div Thuwal 239556900 Saudi Arabia

modulating functions method is a non asymptotic estimation method, which provides accurate and robust estimations of states, parameters and inputs for different classes of systems, which include unknown linear ordinary differential systems, fractional systems and linear partial differential equations. In the case of time or space varying unknown, the method requires the decomposition of the unknown into predefined basis functions. However, the estimation performance will depend on the nature of the basis functions which in some cases are not easy to determine. This letter proposes a new iterative learning based modulating functions method, which combines the standard modulating functions with a dictionary learning procedure. The dictionary learning step allows the determination of appropriate set of functions to decompose the unknown, while the modulating function step allows the non-asymptotic and robust estimation of the projection coefficients. The performance of the proposed method is illustrated in a distributed solar collector application, modeled by partial differential equations and where the unknown solar irradiance is estimated.

关键词： Estimation Machine learning Dictionaries Electron tubes Solar heating Training Production Dictionary learning modulating functions non-asymptotic estimation

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Intelligent Proportional-Integral-Derivative Control-Based modulating functions for Laser Beam Pointing and Stabilization

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IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 2020年第3期28卷 1001-1008页

作者： N'Doye, Ibrahima Asiri, Sharefa Aloufi, Adil Al-Awan, Asem Laleg-Kirati, Taous-Meriem King Abdullah Univ Sci & Technol Comp Elect & Math Sci & Engn Div Thuwal 239556900 Saudi Arabia King Abdulaziz Univ Dept Math Jeddah 21589 Saudi Arabia Jubail Ind Coll Dept Elect & Elect Engn Technol Jubail Ind City 35718 Saudi Arabia

This paper studies the problem of high-precision positioning of laser beams using an intelligent proportional-integral-derivative (i-PID) controller. The control problem addressed in laser beams aims at maintaining the position of the laser beam on a position sensing device under the effects of noise and active disturbances. The design of an i-PID control is based on the so-called ultralocal model. The i-PID controller has been implemented and validated on a real test bench. For the sake of enhancing the performance of the closed loop, it has been combined with a nonasymptotic and robust modulating function-based estimation method, which is used to estimate the unmodeled dynamics and disturbances. The proposed i-PID controller has shown good performance in handling the active disturbances and uncertainties present in the platform. A comparison to the classical PID and robust PID is also provided based on the experimental setup. Robustness tests are performed experimentally to show the effectiveness of the i-PID control.

关键词： Laser beams Laser modes Laser stability Uncertainty Estimation Control systems Computational modeling Laser beams intelligent proportional-integral-derivative (i-PID) control model-free control (MFC) modulating functions PID control robust PID (RPID) control

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Non-asymptotic State Estimation of Linear Reaction Diffusion Equation using modulating functions 21st

Non-asymptotic State Estimation of Linear Reaction Diffusion...

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21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

作者： Ghaffour, Lilia Noack, Matti Reger, Johann Laleg-Kirati, Taous-Meriem King Abdullah Univ Sci & Technol Comp Elect & Math Sci & Engn Div CEMSE Thuwal Saudi Arabia Tech Univ Ilmenau Dept Comp Sci & Automat Ilmenau Germany Natl Inst Res Comp Sci & Automat INRIA Le Chesnay France

In this paper, we propose a non-asymptotic state estimation method for the linear reaction diffusion equation with general boundary conditions. The method is based on the modulating function approach utilizing a modulation functional in time and space. This results in a signal model control problem for a system of auxiliary PDEs in order to determine the modulation kernels. First, the algorithm is mathematically derived and then numerical simulations are presented for illustrating the good performance of the proposed approach and demonstrating the efficient implementation scheme. Copyright (C) 2020 The Authors.

关键词： State Estimation modulating functions Partial Differential Equations Non-asymptotic Estimation

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Finite-time joint estimation of the arterial blood flow and the arterial Windkessel parameters using modulating functions 21st

Finite-time joint estimation of the arterial blood flow and ...

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21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

作者： Bahloul, Mohamed A. Kirati, Taous-Meriem Laleg King Abdullah Univ Sci & Technol KAUST Comp Elect & Math Sci & Engn CEMSE Div Thuwal 239556900 Saudi Arabia

Studying the arterial hemodynamic response plays a crucial role in the understanding and the treatment of cardiovascular diseases. Due to the difficulty of measuring the arterial blood flow, its estimation through a particular arterial vessel, using non-invasive arterial pressure waveform measurements, has always been an important topic in physiology. For instance, knowing the blood flow in a specific site of the arterial network helps in the detection of arterial stenosis. It may also help in the diagnosis of heart valve's diseases. In this paper, an algorithm based on modulating functions is proposed to estimate the arterial blood flow as well as to calibrate the conventional Windkessel model using arterial blood pressure signals measured in a particular site of the arterial system. The algorithm is presented and illustrated through several numerical tests. Copyright (C) 2020 The Authors.

关键词： Finite-time estimation modulating functions Windkessel model blood flow

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Finite-time joint estimation of the arterial blood flow and the arterial Windkessel parameters using modulating functions ⁎

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IFAC-PapersOnLine 2020年第2期53卷 16286-16292页

作者： Mohamed A. Bahloul Taous-Meriem Laleg Kirati Computer Electrical and Mathematical Science and Engineering (CEMSE) Division King Abdullah University of Science and Technology (KAUST) 23955-6900 Thuwal Kingdom of Saudi Arabia

Studying the arterial hemodynamic response plays a crucial role in the understanding and the treatment of cardiovascular diseases. Due to the difficulty of measuring the arterial blood flow, its estimation through a particular arterial vessel, using non-invasive arterial pressure waveform measurements, has always been an important topic in physiology. For instance, knowing the blood flow in a specific site of the arterial network helps in the detection of arterial stenosis. It may also help in the diagnosis of heart valve’s diseases. In this paper, an algorithm based on modulating functions is proposed to estimate the arterial blood flow as well as to calibrate the conventional Windkessel model using arterial blood pressure signals measured in a particular site of the arterial system. The algorithm is presented and illustrated through several numerical tests.

关键词： Finite-time estimation modulating functions Windkessel model blood flow

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Non-asymptotic State Estimation of Linear Reaction Diffusion Equation using modulating functions

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IFAC-PapersOnLine 2020年第2期53卷 4196-4201页

作者： Lilia Ghaffour Matti Noack Johann Reger Taous-Meriem Laleg-Kirati

关键词： State Estimation modulating functions Partial Differential Equations Non-asymptotic Estimation

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AN ADAPTIVE IDENTIFICATION METHOD BASED ON THE modulating functions TECHNIQUE AND EXACT STATE OBSERVERS FOR MODELING AND SIMULATION OF A NONLINEAR MISO GLASS MELTING PROCESS

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INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE 2019年第4期29卷 739-757页

作者： Byrski, Witold Drapala, Michal Byrski, Jedrzej AGH Univ Sci & Technol Dept Automat Control & Robot Al Mickiewicza 30 PL-30059 Krakow Poland AGH Univ Sci & Technol Dept Appl Comp Sci Al Mickiewicza 30 PL-30059 Krakow Poland Techglass Sp Zoo Ul Zygmunta Starego 124 PL-30198 Krakow Poland

The paper presents new concepts of the identification method based on modulating functions and exact state observers with its application for identification of a real continuous-time industrial process. The method enables transformation of a system of differential equations into an algebraic one with the same parameters. Then, these parameters can be estimated using the least-squares approach. The main problem is the nonlinearity of the MISO process and its noticeable transport delays. It requires specific modifications to be introduced into the basic identification algorithm. The main goal of the method is to obtain on-line a temporary linear model of the process around the selected operating point, because fast methods for tuning PID controller parameters for such a model are well known. Hence, a special adaptive identification approach with a moving window is proposed, which involves using on-line registered input and output process data. An optimal identification method for a MISO model assuming decomposition to many inner SISO systems is presented. Additionally, a special version of the modulating functions method, in which both model parameters and unknown delays are identified, is tested on real data sets collected from a glass melting installation.

关键词： continuous systems modulating functions system identification exact state observer glass forehearths

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