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The paper considers the problem of ship autopilot design based on Bech's model of the vessel. Since the ship model is highly nonlinear and the state vector is not completely measurable, the control system synthesis is performed by means of output feedback linearization method combined with a state observer. Due to considerable parameter variations and other substantial uncertainties a robust-adaptive...
The paper is devoted to the problem of a Takagi-Sugeno(TS)-based robust simultaneous actuator and sensor faults estimator design for the purpose of the Fault Diagnosis (FD) of non-linear systems. The proposed methodology of designing a TS-based H∞ fault estimator is developed in this paper. The main novelty of the approach is associated with possibly of simultaneous sensor and actuator faults estimation...
Control systems that are resilient against malicious attacks have recently become one of the important research topics. This is due to the fact that many critical infrastructures in our society such as power grid, nuclear facility, and public transportation, rely on feedback control technology, and that malfunction of said systems due to attack could be disastrous. Malicious attacks on control systems...
A fault tolerant control approach is proposed in this paper for quadrotor Unmanned Aerial Vehicle (UAV) subject to time varying disturbances and actuator faults. The approach is based on a Super-Twisting (STW) control algorithm and a Higher Order Sliding Mode Observer (HOSMO). The HOSMO generates the exact estimates of the unmeasured states and time varying disturbances without any filtration that...
A sliding-mode model reference adaptive (MRA) observer-based model predictive current control (MPCC) strategy is developed for permanent magnet synchronous motor (PMSM) drive systems with DC-link voltage sensorless. Generally a DC-link voltage sensor is indispensable for PMSM drive fed by voltage source inverter (VSI) to implement MPCC. In response to DC-link voltage sensor fault, by combination of...
A novel sensorless speed control algorithm based on sliding mode observer (SMO) for permanent magnet synchronous motors (PMSM) is proposed. By utilizing a phase locked loop algorithm (PLL) based on synchronous reference frame and an embedded low pass filter, the drawback of SMO called “chattering phenomenon” is effectively attenuated, with no phase delay caused by the filter. The active back electromotive...
This paper presents a robust predictive current (RPC) control method for permanent magnet synchronous motor (PMSM). The RPC controller adopts an incremental model, thus the influence of rotor flux can be omitted. This is the main contribution of RPC controller. Moreover, an inductance observer based on Lyapunov stability theorem is adopted to enhance inductance robustness against stator inductance...
This paper develops a sliding mode control (SMC) approach for a class of uncertain nonlinear systems with unmatched uncertainties/disturbances. The newly proposed method is based on a novel fixed-time convergent sliding mode disturbance observer which can estimate the unmatched disturbance in a fixed time (time whose upper estimate is independent of the initial conditions). By designing a novel sliding...
An active disturbance rejection controller (ADRC) is designed and originally implemented on a real torsional plant. The torsional plant resembles the dynamics of a rotational system. Due to mass imbalance, centrifugal imbalance, and the non-coincidence between the principal and geometric axes of a rotating disc, the system parameters of this torsional plant are varying constantly. In addition, an...
The problem of delay-dependent observer-based robustly passive control is addressed for neutral type descriptor Markov jump systems with time-varying delays. The parameter uncertainties of the system are assumed unknown and norm-bounded. Using Lyapunov-Krasovskii functional method and weighted matrix, a delay-dependent robustly passive condition for closed-loop system is given. Then, the sufficient...
This paper concerns disturbance rejection for a repetitive-control system (RCS) with unknown time-varying uncertainties and nonlinearity. The design of the RCS is based on the concept of equivalent input disturbance (EID). First, an EID estimator is constructed through a state observer with dynamic coefficient matrix that effectively estimates the total effect of the uncertainties and nonlinearity...
In this paper, a hybrid adaptive fuzzy sliding-mode dynamic evolutionary neural network (DENN) technique is proposed for biped robot control. The hybrid control system, containing a key and a secondary controller, is implemented. The key controller combining an adaptive fuzzy sliding mode estimator and a DENN observer plays the role of the principal controller meanwhile the secondary controller is...
For a novel conveying mechanism which is highly nonlinear, highly time-varying and highly coupled, a synchronized sliding mode control with nonlinear disturbance observer is proposed to improve the synchronization performance and the disturbance-rejection performance. First, the kinematic analysis of the conveying mechanism is completed and the dynamic model with lumped disturbances of the conveying...
Small gain theorem is used to interpret stability and robustness of linear active disturbance rejection control(LADRC). For the case linear unmodeled dynamic and additive external disturbance, LADRC system is decomposed into two interconnected subsystems. The first subsystem includes all parametric uncertainty of the plant, while the second has a gain which can be adjusted by choosing the parameters...
This paper aims to study the robust nonfragile H∞ controller design problem for a class of uncertain discrete-time nonlinear singular systems. A Takagi-Sugeno (T-S) fuzzy singular model with norm-bounded uncertainties is employed to represent a nonlinear plant. Basing on observers for the fuzzy model, we can construct a fuzzy controller with uncertainties existing in the implementation process. A...
A nonlinear passive robust filtering method is described in this article to solve filtering and state estimation problems of ship dynamic positioning system (DPS) in slowly varying sea state. By augmenting a new state and utilizing acceleration feedback technology, the observer proposed in this paper will improve disturbance attenuation performance. The global stability and passivity of the observer...
In this paper, Maclaurin expansion and Padé approximation are utilized to handle the RHP zeros in the simplified decoupling control and the choosing strategy is given. To improve the robustness of each loop, Active Disturbance Rejection Control (ADRC) is adopted as a good solution which can estimate and compensate the total disturbances by the extended state observer (ESO). Besides, the stability...
This paper deals with the consensus disturbance rejection problem for networked systems coordinating over uncertain communication channels. Each communication channel of the network is modeled as an ideal transmission system with the unitary transfer function perturbed by a norm-bounded uncertainty, which is particularly susceptible to describe quantization errors and communication noises. A distributed...
This paper proposes a robust fault detection observer based on zonotopes for discrete-time uncertain systems with sensor faults and unknown but bounded uncertainties. The main advantage of this method is that the observer gain of the robust zonotopic observer is designed to be robust against bounded uncertainties while being sensitive to faults. In order to detect sensor faults with low magnitudes,...
Fixed-wing unmanned aerial vehicle (UAV) should be under control in the presence of model uncertainty and external disturbance, which is considered as torque perturbation in this paper. Such a challenge imposes tight requirements to the enhanced robustness and accuracy of the vehicle autopilot. The key of this paper is to introduce the model of attitude dynamics and propose a novel finite-time observer-based...
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