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2D observer-based Control of a Vascular Microrobot

IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2017年第5期62卷 2194-2206页

作者： Sadelli, Lounis Fruchard, Matthieu Ferreira, Antoine Univ Orleans Lab PRISME EA 4229 F-18020 Bourges France INSA CVL Lab PRISME EA 4229 F-18000 Bourges France

The paper addresses the 2D observer-based control of a magnetic microrobot navigating in a cylindrical blood vessel along a reference trajectory. In particular, this robot faces the nonlinear drag force induced by the pulsatile blood flow, which can hardly be measured. We consequently propose a mean value theorem (MVT) based observer to estimate the blood velocity from the sole measurement of the robot position. We also prove the stability of the observer-based backstepping controller. The resulting estimation and tracking are then illustrated through simulations, as well as robustness to parametric uncertainty, measurement noise, and dynamical errors when the pulsatile blood flow is incorrectly modeled.

关键词： Backstepping controller medical robotics modeling errors MVT observer observer-based controller parametric uncertainty practical stability

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Robust simultaneous finite-time control and fault detection for uncertain linear switched systems with time-varying delay

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IET CONTROL THEORY AND APPLICATIONS 2017年第7期11卷 1041-1052页

作者： Shokouhi-Nejad, Hossein Ghiasi, Amir Rikhtehgar Badamchizadeh, Mohammad Ali Univ Tabriz Fac Elect & Comp Engn Tabriz Iran

This study deals with the problem of simultaneous finite-time control and fault detection for linear switched systems with state delay and parameter uncertainties. Delay is assumed to vary in an interval with a nonzero lower bound and specified range. Uncertainties are norm-bounded time-varying and exist in the matrix of the system. based on average dwell time approach and using delay-dependent method, new sufficient conditions are given in terms of linear matrix inequalities to design a controller/detector unit. The detector is an observer and the controller is an observer-based controller. This problem is formulated as finite-time H optimisation problem and both finite-time stability and fault detection are considered through certain performance indexes. The effectiveness of the proposed method is verified by a numerical example.

关键词： linear systems switching systems (control) robust control delays uncertain systems linear matrix inequalities observers performance index robust simultaneous finite-time control fault detection uncertain linear switched systems time-varying delay parameter uncertainties state delay nonzero lower bound norm-bounded time-varying average dwell time approach delay-dependent method linear matrix inequalities LMI controller unit design detector unit design observer-based controller H optimisation problem finite-time stability performance indexes

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observer-based H∞ control of discrete-time systems with redundant channels

Observer-based H∞ control of discrete-time systems with red...

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第37届中国控制会议

作者： REN Jing CHEN Yun XUE AnKe Institute of Information and Control Hangzhou Dianzi University

This paper investigates the problem of observer-based H∞ control of discrete-time systems with redundant ***, a redundant channel is considered to increase the probability of successfully delivering measurements over the network,and two mutually independent Bernoulli sequences are used to describe the packet dropouts phenomena in the main channel and the redundant channel. Then by constructing a Lyapunov functional, the sufficient condition is obtained to guarantee the closedloop networked system is stochastically stable with a prescribed H∞ performance. Meanwhile, an observer-based controller is designed by solving a strict linear matrix inequality on the basis of employing the singular value decomposition ***, a simulation example is used to demonstrate the effectiveness of the proposed method.

关键词： H∞ performance observer-based controller redundant channel

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An Algebraic Approach to the observer-based Feedback Stabilization of Linear 2D Discrete Models

An Algebraic Approach to the Observer-Based Feedback Stabili...

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20th World Congress of the International-Federation-of-Automatic-Control (IFAC)

作者： Bachelier, Olivier Cluzeau, Thomas David, Ronan Yeganefar, Nima Univ Poitiers LIAS ENSIP Batiment B252 Rue Pierre BrousseTSA 41105 F-86073 Poitiers 9 France Univ Limoges CNRS UMR 7252 XLIM 123 Ave Albert Thomas F-87060 Limoges France

In a recent work, we have investigated the state feedback structural stabilization of linear 2D discrete models. Our main tools are a procedure which enables the state feedback stabilization of Roesser models and equivalence transformations in the sense of the algebraic analysis approach to linear systems theory. Starting from a Fornasini-Marchesini model, we can compute (if it exists) a stabilizing state feedback control law for an equivalent Roesser model and we can then recast it in order to obtain a stabilizing control law that can be applied to the original Fornasini-Marchesini model. Extending the same idea, we here focus on the observer based dynamic output structural stabilization of linear 2D discrete models within the algebraic analysis framework. Given a Fornasini-Marchesini model, we briefly show how an equivalent Roesser model can be stabilized (if possible) by an observer-based controller computed through existing techniques. Then, we show how to interpret the obtained control law so that it stabilizes the original Fornasini-Marchesini model. Finally, we discuss the cases where our procedure succeeds and we point out some cases where it fails, giving insights to tackle the difficulties encountered in the latter cases. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： 2D discrete models algebraic analysis stabilization observer-based controller

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An Algebraic Approach to the observer-based Feedback Stabilization of Linear 2D Discrete Models

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IFAC-PapersOnLine 2017年第1期50卷 1859-1864页

作者： Bachelier O. Cluzeau T. David R. Yeganefar N. University of Poitiers LIAS-ENSIP Bâtiment B25 2 rue Pierre Brousse Poitiers cedex 9TSA 41105 86073 France University of Limoges CNRS XLIM UMR 7252 123 avenue Albert Thomas Limoges cedex87060 France

In a recent work, we have investigated the state feedback structural stabilization of linear 2D discrete models. Our main tools are a procedure which enables the state feedback stabilization of Roesser models and equivalence transformations in the sense of the algebraic analysis approach to linear systems theory. Starting from a Fornasini-Marchesini model, we can compute (if it exists) a stabilizing state feedback control law for an equivalent Roesser model and we can then recast it in order to obtain a stabilizing control law that can be applied to the original Fornasini-Marchesini model. Extending the same idea, we here focus on the observer-based dynamic output structural stabilization of linear 2D discrete models within the algebraic analysis framework. Given a Fornasini-Marchesini model, we briefly show how an equivalent Roesser model can be stabilized (if possible) by an observer-based controller computed through existing techniques. Then, we show how to interpret the obtained control law so that it stabilizes the original Fornasini-Marchesini model. Finally, we discuss the cases where our procedure succeeds and we point out some cases where it fails, giving insights to tackle the difficulties encountered in the latter cases. © 2017

关键词： 2D discrete models algebraic analysis observer-based controller stabilization

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observer-based STABILIZING controllerS FOR DISCRETE-TIME SYSTEMS WITH QUANTIZED SIGNAL AND MULTIPLICATIVE RANDOM NOISE

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SIAM JOURNAL ON CONTROL AND OPTIMIZATION 2016年第1期54卷 251-265页

作者： Feng, Yu Chen, Xiang Gu, Guoxiang Zhejiang Univ Technol Informat Engn Coll 288 Liuhe Rd Hangzhou Zhejiang Peoples R China Univ Windsor Dept Elect & Comp Engn 401 Sunset Ave Windsor ON N9B 3P4 Canada Louisiana State Univ Dept Elect & Comp Engn Baton Rouge LA 70803 USA

This paper is concerned with the characterization of quadratic mean square (QMS) stabilizing controllers for systems with both quantization error and multiplicative random noise. An observer-based output feedback controller is proposed and designed to achieve the QMS stability of the closed-loop system, and all QMS stabilizing controllers in this structure are characterized in terms of an inequality involving the Mahler measure of the plant, together with an algebraic Riccati inequality. It is noted that the present results potentially pave the road to search for solutions to a more specific control design to address additional system performance requirements.

关键词： Mahler measure observer-based controller quadratic mean square stability quantization multiplicative noise

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observer-based Feedback Control of Networked Control Systems With Delays and Packet Dropouts

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME 2016年第2期138卷 021011-021011页

作者： Zhu, Qixin Lu, Kaihong Zhu, Yonghong Suzhou Univ Sci & Technol Sch Mech Engn Suzhou 215009 Peoples R China East China Jiaotong Univ Sch Elect & Elect Engn Nanchang 330013 Peoples R China Jingdezhen Ceram Inst Sch Mech & Elect Engn Jingdezhen 333001 Peoples R China

The observer-based feedback controller of a new linear networked control system (NCS) with both delays and packet dropouts is designed when the state information is not fully available. With the effects of transmission delays, NCSs are modeled as a discrete-time system with time-varying parameter. The occurrence of packet dropouts is modeled as a Bernoulli event in the NCSs. Under certain conditions, the observer-based controller is proved to render the corresponding NCSs exponentially mean-square stable based on Lyapunov stability theorem and matrix inequality theory. Finally, numerical simulations are included to demonstrate the theoretical results.

关键词： networked control systems observer-based controller time-varying delay packet dropouts Lyapunov stability theorem matrix inequality

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observer-based input/output (I/O) linearizing control for an EDC vaporizer system

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JOURNAL OF THE TAIWAN INSTITUTE OF CHEMICAL ENGINEERS 2015年 50卷 69-75页

作者： Rungrueng, Kochnapoom Panjapornpon, Chanin Kasetsart Univ Dept Chem Engn Ctr Excellence Petrochem & Mat Technol Fac Engn Bangkok 10900 Thailand

This paper presents a new observer-based input/output (I/O) system for handling the level and temperature of a vaporizer system with heat integration in petrochemical industries. The vaporizer is usually sensitive to disturbances and has a small stable operating regime, leading to a problem of system stabilization. The I/O linearizing controller is designed to force the outputs to track desired trajectories while the nonlinear observer with linearizable error dynamics predicts compensated states. The performance of the control method is investigated through a case study of the ethylene dichloride (EDC) vaporizer system under the setpoint tracking with unmeasured disturbances and process uncertainties. The simulation results showed that the proposed method is effective to compensate disturbances for the vaporizer system. (C) 2015 Taiwan Institute of Chemical Engineers. Published by Elsevier B.V. All rights reserved.

关键词： Model-based control observer-based controller Input-output linearization Near-unstable system EDC vaporizer Gas-liquid process

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A model-based embedded control hardware/software co-design approach for optimized sensor selection of industrial systems 23

A model-based embedded control hardware/software co-design a...

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23rd Mediterranean Conference on Control and Automation (MED)

作者： Deliparaschos, Kyriakos M. Michail, Konstantinos Tzafestas, Spyros G. Zolotas, Argyrios C. Cyprus Univ Technol Dept Elect & Comp Engn & Informat Limassol Cyprus SignalGeneriX Ltd Limassol Cyprus Natl Tech Univ Athens Sch Elect & Comp Engn GR-10682 Athens Greece Lincoln Univ Sch Engn Lincoln New Zealand

ISBN: (纸本)9781479999361

In this work, a Field Programmable Gate Array (FPGA)-based embedded software platform coupled with a software-based plant, forming a Hardware-In-the-Loop (HIL), is used to validate a systematic sensor selection framework. The systematic sensor selection framework combines multi-objective optimization, Linear-Quadratic-Gaussian (LQG) control, and the nonlinear model of a maglev suspension. The physical process that represents the suspension plant is realized in a high-level system modeling environment, while the LQG controller is implemented on an FPGA. FPGAs allow to rapidly evaluate algorithms and test designs under real-world scenarios avoiding heavy time penalty associated with Hardware Description Language (HDL) simulators. Moreover, the HIL technique implemented shows a significant speed-up in the required execution time when compared to the software-based model.

关键词： Sensor selection embedded control FPGA design maglev electromagnetic suspension observer-based controller Hardware-In-the-Loop FPGA-In-the-Loop

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observers and observer-based Control for Descriptor Systems Revisited

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2014年第5期59卷 1367-1373页

作者： Darouach, Mohamed Univ Lorraine CRAN CNRS UMR 7039 F-54400 Cosnes Et Romain France

This technical note is devoted to the observers and observer-based control for linear descriptor systems. First, the complete proof of necessary and sufficient conditions for the existence of Luenberger observers for an arbitrary order is given, then the existence conditions for the controller based on these observers are presented in the LMI formulation. The design approach is simple and based on the new study of the constrained generalized Sylvester equations. It unifies all the observers and observer-based controllers of different orders. A numerical example is presented to illustrate our approach.

关键词： Descriptor systems existence conditions full order observer-based controller reduced order

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