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Experimental Evaluation of an observer-based controller for an Unmanned Aerial Vehicle in Reforestation Activities

JOURNAL OF FIELD ROBOTICS 2025年第3期42卷 867-879页

作者： Munoz, Gustavo Abaunza, Hernan Lozoya, Camilo Castaneda, Herman Tecnol Monterrey Sch Engn & Sci Monterrey Mexico

Reforestation is pivotal in mitigating climate change, preserving biodiversity, and safeguarding ecosystems. Precision reforestation implies efficiently using materials and human resources to conduct this intensive task. In this sense, using unmanned aerial vehicles (UAVs), also known as drones, improves the accuracy of dispensed seeds while increasing coverage and reducing labor. However, drone-based reforestation still presents technological challenges that need to be addressed. An important challenge is the presence of disturbances during flights due to environmental conditions, primarily unexpected wind, and the unavoidable loss of mass presented by the vehicle caused by the dispensing task. This paper evaluates the use of an observer-based controller to reject the particular disturbances caused by the sowing activity. Through meticulous experimentation and analysis, the study demonstrates the observer's adeptness in mitigating external disturbances, thereby enhancing the precision and stability of UAV operations. This technological advancement holds promise for diverse practical applications and has implications for environmental conservation efforts, particularly reforestation. The obtained experimental results confirm the viability of the proposed controller and observer framework, highlighting its potential to improve the robustness of environmental monitoring, conservation, and sustainable resource management practices.

关键词： disturbance rejection environmental conservation observer-based controller precision seed dispersal reforestation uncertainty and disturbance estimator (UDE) unmanned aerial vehicles (UAV)

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Reconstructing Membership Functions for observer-based controller Design of Takagi-Sugeno Fuzzy Model with Unmeasured Premise Variables

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INTERNATIONAL JOURNAL OF FUZZY SYSTEMS 2025年 1-14页

作者： Dong, Bao-Trung Nguyen, Thi-Van-Anh Hanoi Univ Sci & Technol Sch Elect & Elect Engn Hanoi 112400 Vietnam

This article presents a method for designing a fuzzy observer for a Takagi-Sugeno (TS) fuzzy model with Unmeasured Premise Variables (UPVs). Unlike existing approaches in the literature, which typically address the challenges posed by UPVs through the formulation of LMI conditions for stability analysis, this article proposes a novel method. The approach focuses on constructing a membership function to overcome the challenges of UPVs, providing an alternative to finding pairs of controller and observer gains that ensure the overall system's stability. based on the separation principle, the controller and observer can be independently designed using LMI conditions. To ensure the stability of the overall system, an appropriate set of membership functions is determined by establishing bounds on the parameters of the new membership functions. Moreover, the reconstructed membership function information is utilized to formulate LMI conditions for stability analysis. Besides that, by using membership function reconstruction, the system also achieves the ability to handle some uncertainties at certain levels. Finally, numerical simulations with the Rotary Inverted Pendulum (RIP) are conducted to validate the effectiveness of the proposed method.

关键词： T-S fuzzy model observer-based controller Unmeasured premise variables Membership function reconstruction Separate principle

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Generalized proportional-integral extended state observer-based controller design for fully actuated systems

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ISA TRANSACTIONS 2024年 155卷 137-147页

作者： Jiang, Hong Duan, Guangren Hou, Mingzhe Harbin Inst Technol Ctr Control Theory & Guidance Technol Harbin 150001 Peoples R China Southern Univ Sci & Technol Ctr Control Sci & Technol Shenzhen 518055 Peoples R China

In this paper, a feedback controller based on the extended state observer is proposed for fully actuated systems. First, a generalized proportional-integral observer is designed to estimate states and disturbances simultaneously. Using the linear parameter varying approach and the convexity principle, a linear matrix inequality condition is given to obtain the observer gains. Second, on the basis of the full-actuation property and the estimated states, a feedback controller, utilizing estimated disturbances to compensate for system disturbances, is designed to make all the states of the closed-loop system uniformly ultimately bounded. In addition, if disturbances are constant or slow time-varying, the observation errors and the states of closed-loop system are all exponentially convergent. Two illustrations are provided to show the validity and practicality of the proposed approach. Simulation results show that the estimated disturbances can follow the true values with relatively small errors, so compensating the system disturbances with estimated values can effectively reduce the ultimate bounds of states of the closed-loop system.

关键词： Extended state observer Fully actuated system Generalized proportional-integral observer Linear parameter varying Linear matrix inequality observer-based controller

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Asynchronous Quantizer-Dependent Event-Triggered Control for Nonlinear Networked Control System With observer-based controller

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IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS 2024年第3期11卷 1203-1213页

作者： Zhou, Tianwei Yue, Guanghui Li, Hongchao Zuo, Zhiqiang Shenzhen Univ Coll Management Shenzhen 518060 Peoples R China Shenzhen Univ Sch Biomed Engn Med Sch Shenzhen 518060 Peoples R China Shenzhen Univ Marshall Lab Biomed Engn Shenzhen 518060 Peoples R China Hebei Univ Technol Sch Artificial Intelligence Tianjin 300130 Peoples R China Tianjin Univ Sch Elect & Informat Engn Tianjin 300072 Peoples R China

This article focuses on the stability analysis for a nonlinear networked control system (NCS) and develops the asynchronous quantizer-dependent event-triggered control mechanisms considering the limitation on plant-to-controller and controller-to-plant channels. First, the observer-based controller, coder, decoder, and asynchronous quantizer-dependent event-triggered control mechanisms are proposed based on system characteristics, and nonlinear NCSs are reformulated to overcome the shortage of system states. Second, the nonlinear NCS with no delay is considered, and sufficient conditions are proposed to guarantee stability and avoid Zeno behavior. Moreover, the nonlinear NCS with input delay is further discussed, and the Lyapunov-Krasovskii function is constructed. Finally, the robotic manipulator system is selected as the example to verify the feasibility and superiority of our proposed scheme.

关键词： Quantization (signal) Networked control systems Stability analysis Delays Nonlinear dynamical systems Network systems Behavioral sciences Asynchronous event-triggered control binary coder-based dynamic quantization nonlinear networked control system (NCS) observer-based controller

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observer-based controller design for a class of networked control systems with transmission delays and packet losses 7

Observer-based controller design for a class of networked co...

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7th International Conference on Control, Instrumentation and Automation (ICCIA)

作者： Asl, Elaheh Mohammadi Hashemzadeh, Farzad Baradarannia, Mahdi Bagheri, Peyman Univ Tabriz Fac Elect & Comp Engn Tabriz Iran

ISBN: (纸本)9781665403504

This work concerns a networked control system (NCS) design for linear systems subjected to time delays and packet losses. The transmission delays are considered between zero and twice the sampling time, so the networked control system is described in a discrete-time domain, which includes time-varying parameters. The incidence of packet loss is modeled as an independent Bernoulli distributed white sequence. observer-based feedback controller is presented to render the closed-loop networked system exponentially mean square stable on the foundation of Lyapunov stability theorem around the defined bounded region. The design procedure is perfected via solving linear matrix inequalities (LMIs). Lastly, a numerical example is used to verify the validity of the presented outcomes.

关键词： networked control systems time-varying delay packet loss observer-based controller Lyapunov stability

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Decentralized observer-based controller Synthesis for a Large-Scale Polynomial T-S Fuzzy System With Nonlinear Interconnection Terms

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IEEE TRANSACTIONS ON CYBERNETICS 2021年第6期51卷 3312-3324页

作者： Vu, Van-Phong Wang, Wen-June Ho Chi Minh City Univ Technol & Educ Dept Automat Control Ho Chi Minh City 700000 Vietnam Natl Cent Univ Dept Elect Engn Taoyuan 32001 Taiwan

This article proposes a novel approach to synthesize a decentralized observer-based controller for a large-scale nonlinear systems in which the interconnection terms are expressed in the nonlinear forms. The large-scale nonlinear system is modeled under the framework of the large-scale polynomial T-S fuzzy systems which can reduce the modeling error and the number of fuzzy rules. It is noted that the interconnection terms are arbitrary nonlinear functions and unnecessary to satisfy the bound constraints, while these constraints are mandatory in the previous studies. Therefore, the proposed method is more relaxed and applicable in practice. A new observer form based on an unknown input method is proposed to simultaneously estimate the unmeasurable states and interconnection terms, which has not been taken into consideration in any previous articles. The information of the unknown states and interconnection is fed back to the controller for stabilizing the system. With the support of the Lyapunov function, the sum-of-square (SOS) technique, the conditions for designing the observer and controller are derived. Finally, the two numerical examples are provided to prove the success and merit of the proposed method.

关键词： Fuzzy systems observers Nonlinear systems Large-scale systems Control systems Adaptive systems Computational modeling Large-scale nonlinear system observer-based controller polynomial T– S fuzzy system sum-of-square (SOS)

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Robust observer-based controller against plant uncertainties 60

Robust observer-based controller against plant uncertainties

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60th Annual Conference of the Society-of-Instrument-and-Control-Engineers-of-Japan (SICE)

作者： Shikada, Kana Sebe, Noboru Sato, Masayuki Kyushu Inst Technol Dept Artificial Interigence Fukuoka Japan Kyushu Inst Technol Dept Intelligent & Control Sysytems Fukuoka Japan Japan Aerosp Explorat Agcy Aeronaut Technol Directorate Tokyo Japan

ISBN: (纸本)9784907764739

This paper concerns a method of constructing observers for the plant with uncertainties. In a conventional design, the nominal system matrix is chosen as the system matrix of the observer for the system with/without the uncertainties. However, the rationale of this strategy is ambiguous. This paper investigates the degree of freedom in selecting the system matrix of the observer. The observer-structured controllers designed with freedom of the selection are evaluated in the H-2 control and estimation performances.

关键词： robust control H-2 control observer-based controller

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observer-based controller Design for Discrete-Time Markovian Jump Linear Systems With Partial Information

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IEEE ACCESS 2019年 7卷 41145-41153页

作者： Liu, Mo Wang, Guoliang Liaoning Shihua Univ Sch Informat & Control Engn Fushun 113001 Peoples R China

In this paper, the observer-based controller problem is considered for a class of discrete-time Markovian jump systems with partial information. We consider the situation that the parameters on Markov chain discussed in this paper may not be totally observed, which is different from the traditional case with complete information on Markov parameters. First, although the operating modes are not completely available, one kind of detector submitting the information on operating modes is provided. Then, a kind of observer and an observer-based controller are constructed in order to achieve the observation of system state and assure the stabilization of the closed-loop systems, respectively. At the same time, sufficient conditions on the existence of the observer and the corresponding controller are presented in terms of linear matrix inequalities (LMIs). Finally, the simulations illustrate the advantage and potential application of the proposed theoretical results.

关键词： Markovian jump systems observer-based controller partial information linear matrix inequalities (LMIs)

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Leader-follower formation control of mobile nonholonomic robots via a new observer-based controller

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2020年第7期51卷 1243-1265页

作者： Hassan, Mohamed F. Hammuda, Mohammad Kuwait Univ Elect Engn Dept POB 5969 Safat 13060 Kuwait

In this paper, a novel observer-based control approach is developed to handle leader-follower formation control of multiple nonholonomic mobile robots. Unlike other available techniques, the proposed formation control strategy can be implemented online without the need to pre-specify the trajectories to be tracked, but only the desired location at the next instant of time. Such an approach permits the system to track formation protocols made of multiple complicated trajectories, and allows the designer to change the trajectories on-line according to the surrounding environment. The estimation part of the proposed approach is conducted using the newly developed smoothed regularised least-squares observer. This observer provides highly accurate predicted state estimates that are essential in generating the desired control strategy. The stability of the proposed observer-based controller is analysed. Simulation results of a formation consisting of a leader and two followers are presented to show the effectiveness and applicability of the developed approach.

关键词： observer-based controller discrete-time nonlinear systems stability analysis multi-agent formation control

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An observer-based controller design for nonlinear discrete-time switched systems with time-delay and affine parametric uncertainty

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ARCHIVES OF CONTROL SCIENCES 2020年第3期30卷 501-521页

作者： Baleghi, N. A. Shafiei, M. H. Shiraz Univ Technol Dept Elect & Elect Engn Modares Blvd Shiraz Iran

This paper proposes a design procedure for observer-based controllers of discrete-time switched systems, in the presence of state's time-delay, nonlinear terms, arbitrary switching signals, and affine parametric uncertainties. The proposed switched observer and the state-feedback controller are designed simultaneously using a set of linear matrix inequalities (LMIs). The stability analysis is performed based on an appropriate Lyapunov-Krasovskii functional with one switched expression, and in the meantime, the sufficient conditions for observer-based stabilization are developed. These conditions are formulated in the form of a feasibility test of a proposed bilinear matrix inequality (BMI) which is a non-convex problem. To make the problem easy to solve, the BMI is transformed into a set of LMIs using the singular value decomposition of output matrices. An important advantage of the proposed method is that the established sufficient conditions depend only on the upper bound of uncertain parameters. Furthermore, in the proposed method, an admissible upper bound for unknown nonlinear terms of the switched system may be calculated using a simple search algorithm. Finally, the efficiency of the proposed controller and the validity of the theoretical results are illustrated through a simulation example.

关键词： discrete-time switched systems time-delay affine parametric uncertainty observer-based controller

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