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This paper presents a modified set theoretic framework for estimating the state of a linear dynamic system based on uncertain measurements. The measurement errors are assumed to be unknown but bounded by ellipsoidal sets. Based on this assumption, a recursive state estimator is (re-)derived in a tutorial fashion. It comprises both the prediction step (time update), i.e., propagation of a set of feasible...
This paper introduces a method to locate simultaneous leaks in a pipeline when only the inflow and outflow of the fluid are available. It is assumed that the fluid in the duct with fixed leaks positions can be described by an approximated finite dimensional model considering pressure at the end of the duct as control variables. This model is used to design a vector called residual pattern in steady...
In this paper basic concepts on the passivity, i. e. passivity, state feedback passivity and output feedback passivity, are reviewed. We propose sufficient conditions on static and dynamic output feedback passification. For static output feedback passification, the class of output feedback passive systems is extended with the help of a slightly modified storage function. Dynamic output feedback passification...
In this paper, a sensor fault diagnosis and accommodation method is developed in nonlinear case. This method makes possible the sensor faults compensation. Its principle is based on the on-line detection, localization and estimation of a faulty element when a fault occurs on a nonlinear system. Then, a new control law is computed in order to compensate the fault effect on the system. The performances...
The problem of observer design for robust residual generation in nonlinear discrete-time systems is considered. The method is proposed to solve this problem involving nonlinear time-dependent transformation of state-space system model into strict feedback form. To make this transformation practicable, algebra of time-dependent functions is developed.
The paper considers an example of mechanical system with high relative degree: a fully actuated robot with elastic joints and the related control problem. The considered system is characterized by a uniform relative degree five, assuming as available output only the joints' angles. Two different strategies can be exploited to address this control problem. A first possibility is to use a full order...
In this paper, a fully real-time implementable constrained Nonlinear Model Predictive Control (NMPC) is proposed for the control of a Diesel engine air path. The resulting control scheme is a discrete-time output feedback based on nonlinear receding-horizon observer. Unlike existing approaches addressing the same problem, the proposed NMPC is not based on any kind of linear per mode modeling paradigm...
The present work deals with the classical problem of speed estimation for a small 4 rotors helicopter drone based on acceleration, rotation angles and angular speed measurements only. This problem concerns indoors applications as well as outdoors applications close-by large structures. Small Unmanned Air Vehicles (UAV) are commonly used for inspection applications such as beneath bridges, water dams,...
A new concept of the perfect singular observer for singular general 2D model is proposed. Necessary and sufficient conditions are established for the existence of the perfect observer for singular general 2D model. A procedure for design of the perfect observer is derived and illustrated by a numerical example.
This paper presents a nonlinear observer for attitude estimation on SO(3) and studies the stability properties of the system in the presence of nonideal inertial sensor measurements. Exploiting vector observations and biased angular velocity readings in the feedback law, almost global asymptotic stability of the origin is obtained and exponential convergence is guaranteed for an explicit region in...
This paper studies the global asymptotic stability of the nonlinear systems described by the multiple model approach using the Takagi-Sugeno (T-S) fuzzy modelling. New sufficient conditions for the stability of such systems are given. Stability analysis is derived via Lyapunov technique and LMIs (Linear Matrix Inequalities) formulation obtained from BMIs (Bilinear Matrix Inequalities) linearisation...
In this paper, we present a fuzzy observer based fuzzy control scheme for nonlinear processes. The observer and the controller are built by "fuzzily interconnecting" local linear Lu-enberger observers and linear controllers. The approach uses techniques of robust control along with piecewise quadratic lyapunov functions, to show the global stability of observer + controller + process. In...
In this paper we address the problem of transforming a nonlinear system into extended nonlinear observer canonical form(ENOCF) with the aid of an extended state space change of coordinates and redefinition of new outputs. The dynamic extension is achieved by adding some integrators to the outputs of original system. To be precise, auxiliary states and new outputs are chosen as the outputs of each...
This paper provides a necessary and sufficient condition for detectability, and an explicit construction of observers when this condition is satisfied, for chemical reaction networks of the Feinberg-Horn-Jackson zero deficiency type.
It is shown that by means of an appropriate choice of the coefficients of the regulator of the order smaller by one from that of the plant, it is possible to obtain the freely prescribed poles of the discrete-time (DT), closed loop (CL) system. The algorithm of design of the regulator-observer for the DT CL system with output feedback is described. The resulting CL system retains all the poles of...
Two kinds of observers, the classical extended deterministic Kalman filter and a high gain observer, have been applied to a nonlinear horizontal plane vehicle model. Observability conditions are given. We have shown that uniform local observability can be guaranteed. Finally, the two state estimators are compared and analyzed in simulations.
In this paper, an alternative method for state estimation of a linear stochastic system under additional bounded set-theoretic disturbance is proposed as a modification of the Bayesian formulation of the problem. The solution is not optimal, but only an approximation based on maximum likelihood approximation. This approach provides superior performance in comparison with classical unknown input observer...
A fault isolation observer is developed for failure detection and isolation of multiple faults in discrete-time dynamic systems. The design of freedom remaining available after directional residuals generation is used to satisfy an H ∞ disturbance attenuation constraint.
This paper deals with hybrid observer design for a class of switched systems. The latter are described by Timed Differential Petri Nets (TDPN) that are characterized by a dwell time ensuring the stability of the considered system. The observer structure is composed of a discrete observer and a continuous observer that are in interaction. The discrete observer reconstructs the discrete mode, by estimating...
This paper proposes an original solution for the observation of nonlinear uncertain systems. Features of this observer based on high order sliding modes are a finite and a priori known convergence time, robustness against unstructured (even unmatched) uncertainties and limited chattering. This is, as far as the authors known, the first observer structure which garantees an a priori known convergence...
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