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This paper researches the approach of observer design for linear discrete systems with delayed measurements and disturbances. A functional-based delay-free transform is given, which transforms the system with delayed measurements and disturbances into a delay-free one formally. Furthermore, a novel reduced-order state observer is presented for the original systems with the delayed measurements and...
Facing to a class of faults whose dynamic characteristics are known, but initial states and initial instants are unknown, fault diagnosis and self-restore fault-tolerant control are researched for linear systems with state delays. A novel observer-based approach to fault diagnosis is proposed, and a design approach to fault-tolerant control law is given. By introducing a special linear transformation,...
The paper addresses the problems of motion control in autonomous underwater vehicle. It is established a simplified mathematical model of AUV's pitch motion in vertical plane by linearizing the nonlinear model at a specified operating point. A fuzzy sliding-mode controller was designed to control the AUV's pitch motion under the disturbance of ocean current. The computer simulation results showed...
This paper introduces a novel 2-DOF high speed and high precision planar parallel manipulator. The manipulator consists of a moving platform that is connected to a fixed base by two limbs. Each limb is made up of one prismatic and four revolute joints and the two prismatic axes are arranged orthogonally. In contrast to conventional XY-tables, the manipulator investigated herein doesn't need decoupling...
Facing to a class of actuator faults and sensor faults with known dynamic characteristics but unknown initial conditions for linear systems with multiple disturbances, the fault detection and isolation (FDI) problems are considered based on the reduced dimensional state observer. This approach has simpler construction, less computation and quicker response speed, and this approach is more easily understood...
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