Papers by Keyword: Observer

Abstract: In this paper a robotic system which consists in a mobile platform with wheels and a robotic arm that operates in cylindrical coordinates which are located on, having a tentacular end-effector that executes specific grasping operations is presented. The robotic system executes: the displacement in the operation field, towards a target point that has been priori established, positioning the arm in order to perform the specified task, and the end-effector task according to a tentacular model. Kinematic models are made by Denavit – Hartenberg method and dynamic models by Lagrange method. Finally, is proposed a control system with uncoupled components.Keywords: mobile platform, tentacular structure, observer.

Abstract: Switched mode DC-DC converters are electronic circuits which convert a voltage from one level to a higher or lower level voltage. This paper presents a new solution approach to controller and observer controller of DC-DC Buck converter. The designs in this paper of DC-DC Buck converter is input voltage 20V step down to 12V output voltage. For control the system simulation investigation into development of controller and observer controller using MATLAB Simulink® software. The simulation develops of the controller and observer controller with mathematical model of DC-DC Buck converter. This paper also providing LQR controller to compare the performance of the system. Finally, the performance output voltage of DC-DC Buck converter is analyzed in terms of time response, overshoot and steady state error.

Abstract: In this paper, the FTC system for multiple operating condition nonlinear systems subjected to sensor faults is developed by applying reconfigurable control scheme. The scheme generates any modified control signal using appropriate additive reference signal to the nominal control system. The proposed observer is developed based on descriptor approach in the fuzzy Takagi-Sugeno model configuration in order to accommodate some operating conditions of a nonlinear system. The simulation result shows that the proposed method has capability to compensate more than one sensor fault occurred in a three-tank benchmark system even there is a change in condition operation as well as in reference signal.

Abstract: In this paper, a fuzzy state observer with an appropriate adaptive law is developed for a class of uncertain nonlinear system. The uncertain nonlinear system is represented by Takagi-Sugeno (T-S) fuzzy model, and the adaptive law is derived based on Lyapunov synthesis approach. It is shown that under appropriate assumptions, the state error between plant system state and desired linear model state converges to zero as time increases. The results of numerical simulation and the experiment on the magnetic levitation system show the effectiveness of this approach.

Abstract: The work presented deals with the experiance of the architectural form related to its function, which is one of permanently open questions in the architectural theory. Various practical situations are considered, in which the architectural form meets its relation towards the function happening within the construction. That range could go from the extremely simplified relation we recognize as in famous phrase „form follows the function“, to the absolute incoherence of the facade from the activities that are performed inside the construction. The influences of these relations on cognitive processes of the observer are considered, as well as the important elements that affect them.

Abstract: Boiler steam temperature controlled object has characteristics of full scope nonlinear and time-variable, which bring more difficulties in modeling and designing control systems. Adopting Jordan block in broad sense and algebra equivalence transform method, the description of transfer functions paragraphed can be transformed into that of state-space with changeable parameters. The researches on steady robustness of three tipical control systems shows that: to the high order inertia nonlinear and time-variable controlled object described by the same set of transfer functions, the Luenberger function observer established according to its any algebra equivalence state-space description, there exists a solve matrixwith order satisfy the Sylvester matrix equation under some conditions. There presents sufficient conditions to full scope asymptotically stable of three types boiler steam temperature control systems and the regulators’ steady work points. The simulation tests and engineering practices prove the correctness of theoretical analysis and steady robustness of the systems.

Abstract: The optimal control of autonomous profiling monitoring underwater vehicle (APMUV) is investigated. Firstly, dynamics equations in vertical plane with disturbances are constructed, and the equations are converted into a linear system by feedback linearization method and then feedforward and feedback optimal control (FFOC) law is designed for the linear system. To solve the unpractical problem of the control law, we construct a disturbance observer to observe the system states to make a quick convergance of the observed system states. Numerical simulations show the effectiveness of the control scheme

Abstract: This paper addresses the observer design for simultaneously estimating the state and input of a class of impulsive systems whose nonlinear terms satisfy an incremental quadratic constraint. By employing Lyapunov theory, sufficient conditions for asymptotical and exponential estimation convergence are derived. Gain matrices of the proposed observer can be obtained by solving linear matrix inequalities (LMIs).

Abstract: For Networked Control System (NCS) with random network-induced delay and packet loss, an observer is designed to reconstruct the states using output values. A piece-wise time-delay strategy and the timestamp technique are used, improving the system performance. Depending on whether data dropout occurs or not, system is modeled as an Asynchronous Dynamical System (ADS), and theorem guaranteeing the system closed-loop stability is also given. Based on Lyapunov and Linear Matrix Inequality (LMI), controller gain and observer gain are solved and TrueTime toolbox is used to verify the effectiveness of the algorithm.

Abstract: Against to the multi-roots problem existed in Heydemann method for calibration of sinusoidal signals, a new approach containing two procedures is proposed. Firstly, the dc offsets and amplitude deviations of sinusodial signals were estimated by two observers separately. Then, to accept the non-orthogonal phase shift in the sinusodial signals, a simple Heydemann method with only two variables was adopted. Simulation results show that this method is feasible, and can converge to the origin with high accuracy. This method will show great values in the field of calibration of sinusoidal encoder signals.