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In order to improve the maneuverability and safety of the air cushion vehicle (ACV), considering the internal uncertainties, external disturbances, chattering in sliding mode control, the second order nonsingular terminal sliding mode (SONTSM) controller with extended state observer (ESO) is designed to achieve the course control of ACV. The course controller includes two parts: second order nonsingular...
This paper considers the global adaptive stabilization via output-feedback for a class of uncertain planar nonlinear systems. Different from the existing related literature, the systems under investigation are subjected to unknown control directions, and simultaneously allow linear unmeasured states dependent growth. To solve the problem, an adaptive output-feedback scheme is proposed, not only to...
This paper proposes a novel adaptive sliding mode observer to improve the performance of sensorless control of permanent magnet synchronous motor (PMSM) in the More Electric Aircraft (MEA) system. An adaptive sliding mode observer base on adaptively tuning the observer gain is investigated to relax the requirement for the bound of load uncertainties and strengthen the anti-interference ability. System...
Inventory regulation and control to a desired time-varying inventory level is accomplished via an accurate on line observer-based demand rate estimation, followed by a demand rate satisfaction effort incorporated on the production rate decision rule. An extended demand rate observer is shown to efficiently allow for production rate to accurately match highly fluctuating uncertain demand rates, with...
In this paper, an interal observer for both state and unknown input estimation is proposed for a Linear Time Invariant (LTI) system. It generalizes previous work done on the subject. Such an observer is constructed under some specific conditions. Among those conditions, a rank condition is needed to ensure the independence between the state estimation and the unknown input. In this paper, former proposed...
This paper highlights the necessity of the rider weight consideration during observer's design for motorcycle dynamics estimation or control. It presents a novel approach using a linear parameter varying (LPV) model associated with the well-know Takagi-Sugeno (TS) methods to derive a robust observer regarding the rider weight uncertainty. Then the proposed solution is illustrated with an application...
This paper presents a new robust estimation of the lateral velocity and yaw rate using switched Takagi-Sugeno fuzzy interval observers. The longitudinal velocity is treated as the online measured time-varying parameter and the cornering stiffness at front and rear tires are assumed to be unknown but bounded with a priori known bounds. Based on a multiple model switching structure, this design divides...
A novel actuator fault reconstruction scheme based on neural network and adaptive sliding mode observer is presented for a class of nonlinear systems with uncertainty. To improve the accuracy of actuator fault reconstruction, the radial basis function neural network is applied to approximate the uncertainty on line. An adaptive algorithm is designed to modify the gain of the controller by considering...
This article investigates the problem of fault detection for a class of uncertain systems by a new method. Based on the system's own uncertainty and external disturbances, a more effective fault detection method is designed by the method of homogeneous polynomial function. This detection method not only suppresses the effects of disturbances and uncertainties on the residual signal but also makes...
The problems of fault-tolerant control and fault estimation for descriptor systems with actuator faults are addressed. A nonfragile observer is proposed to estimate the states of the descriptor system and reconstruct actuator faults. Subsequently, based on the estimation information provided by the observer, the nonfragile fault-tolerant controller is built to guarantee the admissibility of the closed-loop...
In the paper, we address the attitude control and momentum management problem of the spacecraft with patrial sate information. A three-axis coupled nonlinear dynamics subject to various uncertainties is investigated, and the ADRC technique is applied. The proposed control scheme synthesizes a linear quadric regulator controller, a ΜΙΜΟ-type extended state observer and a novel compensator, which only...
This paper considers the finite-time control problem for aircrafts with uncertainty. The dynamic model used here is in terms of Euler angles which can be obtained easily. The extended state observer (ESO) is designed to estimate the lumped uncertainty of the system. Based on this, the finite-time controller is designed by using the backstepping method. It proved that the state of the closed-loop system...
A dynamic neural network (DNN)-based observer design is presented, which amalgamates an adaptive neural network-based technique with a finite-time sliding mode estimation method. The proposed observer design is motivated by practical quadrotor unmanned aerial vehicle tracking control applications, where direct sensor measurements of translational and rotational rates are not available for feedback...
This paper presents a synthetic jet actuator (SJA)-based closed-loop active flow control and estimation method, which compensates for the parametric uncertainty inherent in SJAs. A proper orthogonal decomposition (POD)-based model reduction technique is first utilized to recast the Navier-Stokes partial differential equation as a set of ordinary differential equations in terms of the unknown Galerkin...
For the state estimation of safety-critical systems, interval observers are an emerging alternative to classical state estimation methods due to their provision of guaranteed information on unmeasurable quantities. One possible application of interval observers are induction machines used as a traction drive whose common models belong to the class of linear parameter-varying (LPV) systems. To overcome...
The paper considers the problem of ship autopilot design based on Bech's model of the vessel. Since the ship model is highly nonlinear and the state vector is not completely measurable, the control system synthesis is performed by means of output feedback linearization method combined with a state observer. Due to considerable parameter variations and other substantial uncertainties a robust-adaptive...
An output-feedback control system for uncertain single-input-single-output linear systems with arbitrary delay in the output signal is developed. The state of the system is estimated by observers connected in cascade. Unlike previous works, parametric uncertainties are allowed. Their effects are analyzed by using the Small-Gain Theorem. The proposed control strategy guarantees global stability of...
The paper discusses the assessment of humanrobot interaction (HRI) experiments in social robotics. Some of the MOnarCH project experiments are analyzed, illustrating key ideas on performance indicators based in activation rates of micro-behaviors and environment models. The consistency of the results obtained indicates that the ideas are fully applicable to other experiments in social robotics.
The purpose of the paper is to propose a new control scheme in active front steering (AFS) for vehicle stability using disturbance observer method. In the paper, the ideal yaw rate can be calculated on the linear two-degrees-of-freedom vehicle model. In addition, the actual sideslip angle can also be estimated by using a state observer. Based on this, two kinds of baseline AFS controllers are proposed...
The tail-sitter unmanned aerial vehicle (UAV) is a kind of vertical take-off and landing (VTOL) UAV which has the merits of both fixed-wing and rotary-wing. The tail-sitter UAV in this paper has three flight modes. The most important stage is the transition stage. The model for the transition stage is established and a transition flight strategy is constructed so that the UAV can change vertical takeoff...
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