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In this paper, a model-based FDI-scheme for the detection and isolation of sensor faults in the vehicle lateral dynamics control system ESP is presented. The main objective is to handle the model uncertainties and to isolate faults. In order to reduce false alarm rate on the one hand and to ensure fault detectability on the other hand, a parity space based solution is presented. To achieve a numerical...
In the majority of robotic applications, including manipulation and human-robot interaction, contact force needs to be monitored and controlled. Compliance controllers demand high precision force measurement that can be delivered by commercial force/torque sensors. However, these sensors are expensive, rather bulky and vulnerable to impact forces. A common solution to this dilemma is the use of force...
We present nonlinear model predictive control design for a type of discrete-time nonlinear system. Range constraints are imposed on input, output and input rate. When states are not available, an observer based on Newton's algorithm is used to estimate all states. We also present an idea to improve robustness of the control system when plant is subjected to modeling uncertainties. By using past information,...
For linear systems with structured uncertainties, the unknown input fault detection observer (UIFDO) provides a robust diagnostic approach by decoupling the fault signals from the unknown input term. However, in real applications, detection performance of the UIFDO degrades seriously as nonlinearities become significant in a wide dynamic operating range. In this paper, a novel UIFDO design and the...
This paper deals with fault detection observer design for linear time-invariant systems with unknown inputs. The design objective is set to minimize a combined performance index Hinfin/H- which means to achieve a good compromise between robustness to the disturbance and sensitivity to the fault. Hence, the fault detection observer is designed to detect the fault of smallest energy possible. In this...
This paper addresses the design and implementation of a digital tracking controller for a fast tool servo to drive the cutting tool to machine workpieces with noncircular cross section in a lathe. The main idea of the controller lies in its actively rejecting disturbance while maintaining the simplicity and intuitiveness of existing PID approach. The proposed active disturbance rejection controller...
This paper presents a reduced-order state-function/unknown input observer for linear unknown input systems with additional Hinfin performance. The proposed reduced-order observer can be designed under a less strict existence condition. The control scheme which can be estimated unknown inputs and decoupled disturbance, simultaneously, is also proposed, and is applied to disturbance attenuation problems...
This paper is proposed a disturbance estimation property of internal model control by using the reduced order observer-based stabilizing controller. A control structure for a master-slave teleoperation system by a two-finger robot hand is also discussed. By using the reduced order observer-based stabilizing controller, the proposed method is able to estimate reflection force on the slave side without...
This paper presents a numerical algorithm, implemented in Scilab, which solves an unknown input observer problem. The algorithm is basically based on a two steps procedure. The first step uses a classical algorithm which allows to test the existence of a solution for the given data. The second step solves the problem, using a simple linear systems of equations
Control of drives based on AC induction motors is a quite complex task. Provided the vector control algorithm is used we need to know not only the rotor speed but also the position of the magnetic flux inside the motor during the control process. In most applications the flux sensors are omitted and the magnetic flux phasor position has to be calculated. But there are also applications in which even...
Fuzzy boundary control of 2D Burgers equation is considered in this paper. The Burgers equation has extensively been considered as a benchmark problem by flow control researchers. The flavor of the problem is its multidimensionality and nonlinearity, which are the reasons making the governing equation a good start for developing a well-defined understanding of control of flows. This paper demonstrates...
In this paper, a novel sensorless speed tracking control scheme is proposed for the design of permanent magnet synchronous motors (PMSM). This design strategy consists of nonlinear backstepping controllers and an angular velocity observer to achieve the purpose of speed following. The PMSM design, in general, requires angular velocity measurement to achieve control goals, but most PMSM systems do...
In this paper, we propose a new observer design for the estimation of the biomass concentration in a bioreactor, using the measurements of the substrate concentration. We consider two cases: in the first, a full knowledge of the specific growth rate is assumed and in the second, only a partial knowledge of the latter is assumed. We show that the bioreactor model is in a special canonical form called...
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