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In this article, we are concerned with the stabilization of a one-dimensional Schrödinger equation with boundary control and observation. The boundary observation is suffered from an arbitrary given time delay. We first show that the proportional output feedback control that stabilizes exponentially the time delay free system makes the corresponding time delay system unstable.We then use the observer...
The design of Proportional-Integral Observer (PIO) for time-delay systems is considered in this paper. First, a method for PIO design is proposed to attenuate the disturbance to a pre-specified level while estimating the state of the delay system. The method guarantees the stability of the observer and minimizes the Hinfin norm between the disturbance and the estimated error. An alternative design...
Delay approach to continuous-discrete observer design for Lipschitz nonlinear systems is discussed. First, the convergence conditions of the nonlinear observer with a linear output correction are established in terms of linear matrix inequalities. In the second part of this note, new matrix conditions are derived to ensure the convergence of the hybrid observer with both linear and nonlinear correction...
This paper aims to design an innovative observerbased reliable controller for networked control system(NCS). The state and sensor failures are estimated as the controller's input. The gains of Observer and observer-based feedback controller are solved via the linear matrix inequality (LMI) technology. An illustrative example is given to show the reliable output can works well even if the sensor failures...
In Networked Control Systems, delays are unavoidable. Moreover, loss of data should be taken into account. Smith-like predictor is the most common approach to cope with delays, but open loop stability is required to ensure internal stability. Some recent results allow dealing with these systems, if a SISO structure is concerned. In this paper, the design of a predictor-observer for possible unstable...
A small UAV is being developed in the Faculty of Mechanical and Aerospace Enginnering, ITB, Indonesia. The UAV system is designed for surveillance missions in a rural area. The limitation of payload space, weight, and power source demands the system to be designed with limited application of sensors and actuators, while it is still required to be able to perform its mission within a predefined measures...
In this paper, we consider finite-time tracking problems of a moving target by multiple mobile agents. The mobile agents with global sensing areas and limited actuation region are designed to track down a target with estimation error with the help of formation and coverage. In order to capture the target, its location and velocity are first estimated. With observer-based estimation and formation control,...
In this work, we propose a framework for supervisory cooperative estimation of multi-agent nonlinear systems. We introduce a group of sub-observers, each estimating certain states conditioned on certain given input, output, and state information. The cooperation among the sub-observers is supervised by a discrete-event system (DES). The supervisor makes decisions on selecting and configuring a set...
We propose a globally convergent observer for three-state nonlinear systems verifying the uniform complete observability condition. By constructing a time-varying differentiator, we are then able to reproduce the first and the second derivatives of the system output without imposing the boundedness of the states or the output. By exploiting the algebraic observability of the system, we show that the...
For uncertain time delay systems with mismatch disturbances, this paper presented an integral sliding mode control algorithm using output information only. The proposed control algorithm can improve the synthesis problem in past researches and avoid solving a large LMI. An integral sliding surface is comprised of output signals and an auxiliary full-order compensator. The designed output feedback...
This paper first develops the six degrees of freedom (DOF) nonlinear dynamic model of near space vehicle (NSV) in re-entry trajectory and analyzes its model characteristics and aerodynamic parameters, then the linear model is obtained using trim technique. The problem of fault estimation based on adaptive fault diagnosis observer is studied, which can achieve accurate estimation of fault and give...
In this paper, a robust adaptive observer for joint state-parameter estimations has been designed for systems with unknown disturbances. By integrating the unknown input observer (UIO), a disturbance decoupled estimation of both states and parameters is achieved. An auxiliary input is added to the UIO in coping with the estimation errors so that the exponential stability and convergence are guaranteed...
Fault detection and reconstruction of actuator and sensor faults for descriptor systems based on a sliding mode observer is considered. The existence conditions and design algorithm of sliding mode observer for linear descriptor systems with actuator faults are given. By the introduction of suitable filters, the sensor faults is treated as actuator faults. By analysis, the method is extended to the...
This paper is concerned with a strictly positive real H2 controller design problem using an observer-based controller with Kalman filter gain. In this paper, we propose a successive method with non-common Lyapunov variables for this control problem. The feature of our method is to construct a controller sequence on which H2 norm is monotonically non-increasingly while all controllers are strictly...
In this paper, a control mechanism is proposed for state fault-tolerance of asynchronous sequential machines. A disturbance input may penetrate into the asynchronous machine and provoke unauthorized state transitions. The considered asynchronous machine is of input/output type, where access to the state of the machine is not available. The objective is to design output feedback controllers that automatically...
In this paper, nonlinear observer based trajectory tracking control for a wheeled mobile robot is proposed. The nonlinear observer is designed for not only an unmeasurable orientation error but current position error. This full-order observer shows robustness to measurement noise. Besides, a controller which exponentially stabilize the tracking error is considered. The controller-observer combination...
It is well known that standard sliding mode controller, usually, gives rise to a dangerous chattering effect. This problem can be overcome using a higher-order sliding mode controller which preserves the main properties of the standard sliding mode and deliberately increases the control smoothness. In this paper, we propose a new sliding variable of a recently proposed higher order sliding mode controller...
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