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Induction machines are critical components in several industrial processes and are frequently integrated in commercially available equipments. The reliability of an induction motor is of great Importance in industrial as well as commercial, aerospace and military applications. in This paper two kinds of induction motor faults, stator short circuit and broken rotor bar fault, are investigated. The...
This paper presents a robust adaptive fault estimation design method to solve the problem of actuator fault estimation for CCBII Braking System with disturbances and model uncertainties. The proposed robust adaptive fault estimator which is based on an adaptive observer can improve the speed of fault estimation. By transforming the system model into a special coordinate basis (SCB) form, we can structure...
In this paper, the fault detection and isolation problems (FDI) of heavy-haul trains equipped with electronically controlled pneumatic (ECP) brake system are studied. A longitudinal dynamical model and the fault modes of trains are considered. A fault detection estimator bases on the nonlinear observer is designed to generate residual for detecting fault. After the fault is detected, a group of fault...
The problem of reducing conservatism of observer design of discrete-time Takagi-Sugeno fuzzy systems is addressed via a new kind of fuzzy observer. The so-called multi-instant fuzzy observer is parameter-dependent on both past-time and current-time normalized fuzzy weighting functions. Since more information about the underlying fuzzy systems could be involved into observer design, the conservatism...
For a class of linear time-varying system with non-uniform sample, we discrete the system by combination of both norm invariant and step invariant transformation, taking the problem of non-uniform sample transformed into discrete time varying system problem. Based on designed the fault estimator, we construct Lyapunov function, to get the essential condition of the error equation asymptotic stability...
This paper considers the finite-time control design for the nonholonomic mobile robots to construct leader-following formation. In the formation, only the pose of the leader robot can be obtained by the follower. Firstly, the leader-following formation is transformed into a special trajectory tracking problem and a finite-time observer is designed to estimate the leader's dynamics. Then, neural network-based...
In this paper, the consensus problem of a class of high order multi-agent systems is studied. We supposed the multi-agent can only exchange information only accord to a directed communication graph. By using the relative state consensus algorithm, a sufficient condition is provided for consensus achievement. Then, a new consensus protocol which using a state observer is provided. The N observer and...
This paper presents a nonlinear robust fault tolerant control scheme to force the faulty system to asymptotically track a given desired trajectory via cascade observers. Focusing on the external disturbance and actuator faults of the nonlinear non-minimum phase vertical take-off and landing aircraft, two decoupled reduced order observers are designed to estimate the unknown disturbance and fault....
In induction motor vector control system, the obtaining of accurate rotor flux is of essential significance. Based on the “assumed inherent sensor” reverse principle, a new method for observing flux is proposed. It firstly assumes that there exists a subsystem inside the induction motor, whose inputs are just the to-be-estimated variables while outputs the measurable variables and establishes the...
As adhesion coefficient of high speed train (HST) varies with wheel-rail surface condition and running speed, it is thus rather difficult to obtain its accurate value via online measurement, making it non-trivial to design and implement traction/braking control scheme for HST. In this paper, force observers are developed to estimate the adhesion force and the resistance, respectively. Traction/braking...
In this paper, we consider the problems of fault detection for heavy-haul trains equipped with electronically controlled pneumatic (ECP) brake systems. A longitudinal dynamical model which has been successfully validated is used to simulate the actual situation. Based on the model, a set of unknown input observers which are adopted to estimate locomotives' state is constructed, and observers can determine...
This paper deals with the observer design for the Lur'e differential inclusion system with Markovian jump parameters. The information of transition probabilities is partially unknown. The stochastic observer is designed to make the error system exponentially stable in mean square. The condition for the existence of the stochastic observer is given by a set of linear matrix inequalities and linear...
This paper considers the problem of global output feedback control for a class of nonlinear systems with inverse dynamics. The main contribution of paper is that: For the inverse dynamics with uncertain ISS/iISS supply rates, we construct a reduced-order observer-based output feedback controller, which drives the output of system to zero and maintain other closed-loop signals bounded. Finally, a simulation...
This paper presents observer-based direct adaptive fuzzy control for a class of uncertain single-input single-output(SISO) nonlinear systems with unknown control direction. With this scheme, the adaptive fuzzy controller is designed in the presence of only system output is available for measurement, and a robust controller is used to compensate for the lumped errors. A state observer is designed to...
A unified observer of high order disturbances in time series expansion for a class of nonlinear systems was proposed in this paper. The stability of a special observer from selecting the nonlinear weighted function was analyzed for constant disturbance. Then the constant disturbance observer algorithm was generalized to ramp disturbance and high order disturbances in time series expansion by incorporating...
This paper focuses on the speed control of the hydraulic secondary regulation system, which has a wide application prospect in hydraulic drive due to its high system efficiency, fast dynamic response and energy recovery capability. To obtain its robust speed control under the conditions of load disturbances and system parameters variations, an active disturbance rejection controller in conjunction...
Accurate needle insertion into soft, inhomogeneous tissue is a critical aspect of many medical problems, such as the percutaneous diagnosis and therapies. In such procedures, the flexible tip-steerable needle with bevel tips can deflect during insertion and reach the target we set beforehand. In 2D motion planning, it's crucial to maintain the needle in a desired plane. However, the inhomogeneous...
The full speed range stabilizing control of interior permanent magnet synchronous motor(IPMSM)for electric vehicles based on Port-Controlled Hamiltonian(PCH)theory is proposed in this paper. First, the Hamiltonian stabilizing control of IPMSM is realized using energy-shaping method of interconnection and damping assignment. Then the desired equilibrium is acquired by maximum torque per current(MTPA)...
A parametric design problem of the finite time state observers for the linear time-invariant systems is investigated. The design aim of the finite time state observers in linear time-invariant systems is to present the parametric form of the state observers which can estimate the system state in a predefined finite time and the estimation stays bounded during the convergence time interval. Based on...
The stability analysis problem is investigated for networked predictive control systems with varying controller gains in this paper. By introducing a new auxiliary variable and analyzing the deep relationship between two consecutive sampling points, the NCS is transformed into a coupled switched system. The sufficient condition guaranteeing the asymptotical stability of the coupled switched system...
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