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Wyświetlanie 1-15 z 25
Tytuł:
The design of ship autopilot by applying observer – based feedback linearization
Autorzy:
Zwierzewicz, Z.
Powiązania:
https://bibliotekanauki.pl/articles/259972.pdf
Data publikacji:
2015
Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:
ship autopilot design
feedback linearization
nonlinear observer
Opis:
The paper considers the problem of ship autopilot design based on Bech’s model of the vessel. Since the model is highly nonlinear and some of the state vector coordinates are unavailable, the control system synthesis is performed by means of an output feedback linearization method combined with a nonlinear observer. The asymptotic stability of the overall system has been proven, including the asymptotic stability of the system internal dynamics. The performed simulations of the ship course-changing process have confirmed a high performance of the proposed controller. It has been emphasized that for its practical usability the system robustification is necessary.
Źródło:
Polish Maritime Research; 2015, 1; 16-21
1233-2585
Pojawia się w:
Polish Maritime Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Global rational stabilization of a class of nonlinear time-delay systems
Autorzy:
Echi, Nadhem
Ghanmi, Boulbaba
Powiązania:
https://bibliotekanauki.pl/articles/229187.pdf
Data publikacji:
2019
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
rational stability
delay system
nonlinear observer
Lyapunov functional
Opis:
The present paper is mainly aimed at introducing a novel notion of stability of nonlinear time-delay systems called Rational Stability. According to the Lyapunov-type, various sufficient conditions for rational stability are reached. Under delay dependent conditions, we suggest a nonlinear time-delay observer to estimate the system states, a state feedback controller and the observer-based controller rational stability is provided. Moreover, global rational stability using output feedback is given. Finally, the study presents simulation findings to show the feasibility of the suggested strategy.
Źródło:
Archives of Control Sciences; 2019, 29, 2; 259-278
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
An observer for magnetic levitation system control based on a coefficient diagram method and backstepping
Autorzy:
Haouari, F.
Bali, N.
Tadjine, M.
Boucherit, M. S.
Powiązania:
https://bibliotekanauki.pl/articles/141513.pdf
Data publikacji:
2018
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
backstepping
coefficients diagram method controller
magnetic levitation system
nonlinear observer
Opis:
In this paper, we propose a robust nonlinear control design concept based on a coefficient diagram method and backstepping control, combined with a nonlinear observer for the magnetic levitation system to achieve precise position control in the existence of external disturbance, parameters mismatch with considerable variations and sensor noise in the case, where the full system states are supposed to be unavailable. The observer converges exponentially and leads to good estimate as well as a good track of the steel ball position with the reference trajectory. A simulation results are provided to show the excellent performance of the designed controller.
Źródło:
Archives of Electrical Engineering; 2018, 67, 2; 403--417
1427-4221
2300-2506
Pojawia się w:
Archives of Electrical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Control system design for dynamic positioning using vectorial backstepping
Autorzy:
Witkowska, A.
Powiązania:
https://bibliotekanauki.pl/articles/359838.pdf
Data publikacji:
2013
Wydawca:
Akademia Morska w Szczecinie. Wydawnictwo AMSz
Tematy:
dynamic positioning
backstepping
nonlinear passive observer
Opis:
The problem of synthesis a dynamic positioning system for low frequency model of surface vessel was considered in this paper. The recursive vectorial backstepping control design was used to keep a fixed position and heading in presence of wave disturbances. The passive observer was introduced to smooth the measurements and to estimate the velocities needed for the control algorithm. The computer simulation results were given to demonstrate the effectiveness of that combination of controller-observer system to compensate environmental disturbances.
Źródło:
Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2013, 36 (108) z. 1; 182-187
1733-8670
2392-0378
Pojawia się w:
Zeszyty Naukowe Akademii Morskiej w Szczecinie
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Analiza nieliniowego obserwatora i filtru cząsteczkowego jako estymatorów pozycji statku
Enhancement of posiotioning estimation of vessel
Autorzy:
Jaroś, K.
Witkowska, A.
Powiązania:
https://bibliotekanauki.pl/articles/267170.pdf
Data publikacji:
2015
Wydawca:
Politechnika Gdańska. Wydział Elektrotechniki i Automatyki
Tematy:
Nieliniowy model statku
Particle Filter
Nieliniowy obserwator
Nonlinear observer
Particle Filtering
Opis:
W artykule została przedstawiona analiza porównawcza dokonana pomiędzy dwoma estymatorami pozycji. Analiza ta została przedstawiona na podstawie różnicy pomiędzy wartością estymowaną a rzeczywistą. Badania estymatorów zostały przeprowadzone na podstawie równania kinematyki i dynamiki statku dynamicznie pozycjonowanego. Wartościami wykorzystywanymi w symulacji są pomiary z symulowanego odbiornika GPS i siły wytworzone przez napędy statku w czasie wykonywania manewrów. W artykule zawarto nieliniowy model statku z zakłóceniami w globalnym układzie współrzędnych, oraz dwa estymatory nieliniowy obserwator (NO) i filtr cząsteczkowy (PF) (ang. Particle filter). Badania zostały przeprowadzone w środowisku MATLAB/Simulink z użyciem modeli symulacyjnych. W badaniach wykazano że PF jest lepszym estymatorem niż NO podczas manewru zmiany pozycji statku natomiast sytuacja jest odwrotna podczas utrzymywania stałej pozycji statku.
An estimation of measured variables is very important in dynamic positioning systems of the vessels. There is required to a filtering of the signal environmental noise and the measurements noises to get high-precision estimate of the vessel’s position. The dynamic positioning systems uses a different algorithms for estimating and filtering measured signals. More suitable algorithms of estimating and filtering, allows to obtain an accurate control of the vessel’s position at sea, in seaports and near oil rigs. It improve safety level and decrease fuel consumption. That is the reason why many evaluations and investigations of estimation parameter. The goal of research, described in the paper is which of estimator is most suitable estimation of the vessel’s position. In this paper used three estimator to compare which of this estimation give the better solution in different tasks in dynamic positioning system. To comparison filters in this paper used simulation where the vessel has been used to different tasks. Ship model simulates the signal from the GPS receiver with disturbances and provides information about the force generated by the propellers. These values was used to estimation position of vessel. Studies have shown that PF is a better estimator than NO by tracking the position of a time-varying but the opposite is true for estimating the position of the invariant over time.
Źródło:
Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej; 2015, 47; 71-74
1425-5766
2353-1290
Pojawia się w:
Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Range Identification for a Perspective Dynamic System with a Single Homogeneous Observation
Autorzy:
Ma, L.
Chen, Y.
Moore, K. L.
Powiązania:
https://bibliotekanauki.pl/articles/908492.pdf
Data publikacji:
2005
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
system identyfikacji
układ dynamiczny
obserwator nieliniowy
range identification
perspective dynamic systems
nonlinear observer
Opis:
Perspective problems arise in machine vision when using a camera to observe the scene. Essential problems include the identification of unknown states and/or unknown parameters from perspective observations. Range identification is used to estimate the states/positions of a moving object with known motion parameters. Range estimation has been discussed in the literature using nonlinear observers with full homogeneous observations derived from the image plane. In this paper, the same range identification problem is discussed with a single homogeneous observation using nonlinear observers. Our simulation results verify the convergence of the observers when their observability conditions are satisfied.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2005, 15, 1; 63-72
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Powerful nonlinear observer associated with field-oriented control of an induction motor
Autorzy:
Mansouri, A.
Chenafa, M.
Bouhenna, A.
Etien, E.
Powiązania:
https://bibliotekanauki.pl/articles/907397.pdf
Data publikacji:
2004
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
silnik indukcyjny
obserwator nieliniowy
rezystancja wirnika
induction motor
field-oriented control
nonlinear observer
rotor resistance
Opis:
In this paper, we associate field-oriented control with a powerful nonlinear robust flux observer for an induction motor to show the improvement made by this observer compared with the open-loop and classical estimator used in this type of control. We implement this design strategy through an extension of a special class of nonlinear multivariable systems satisfying some regularity assumptions. We show by an extensive study that this observer is completely satisfactory at low and nominal speeds and it is not sensitive to disturbances and parametric errors. It is robust to changes in load torque, rotational speed and rotor resistance. The method achieves a good performance with only one easier gain tuning obtained from an algebraic Lyapunov equation. Finally, we present results and simulations with concluding remarks on the advantages and perspectives for the observer proposed with the field-oriented control.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2004, 14, 2; 209-220
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Global Stability of Linearizing Control With a New Robust Nonlinear Observer of The Induction Motor
Autorzy:
Chenafa, M.
Mansouri, A.
Bouhenna, A.
Etien, E.
Belaidi, A.
Denai, M. A.
Powiązania:
https://bibliotekanauki.pl/articles/911129.pdf
Data publikacji:
2005
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
obserwatory nieliniowe
sterowanie liniowe
silnik indukcyjny
stabilność globalna
nonlinear observer
linearizing control
induction motor
global stability
Opis:
This paper mainly deals with the design of an advanced control law with an observer for a special class of nonlinear systems. We design an observer with a gain as a function of speed. We study the solution to the output feedback torque and rotor flux-tracking problem for an induction motor model given in the natural frame. We propose a new robust nonlinear observer and prove the global stability of the interlaced controller-observer system. The control algorithm is studied through simulations and applied in many configurations (various set points, flux and speed profiles and torque disturbances), and is shown to be very efficient.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2005, 15, 2; 235-243
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Adaptive observer-based fault estimation for a class of Lipschitz nonlinear systems
Autorzy:
Oucief, N.
Tadjine, M.
Labiod, S.
Powiązania:
https://bibliotekanauki.pl/articles/229517.pdf
Data publikacji:
2016
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
nonlinear adaptive observer
fault estimation
strictly positive real
Lipschitz systems
observer matching condition
LMI
Opis:
Fault input channels represent a major challenge for observer design for fault estimation. Most works in this field assume that faults enter in such a way that the transfer functions between these faults and a number of measured outputs are strictly positive real (SPR), that is, the observer matching condition is satisfied. This paper presents a systematic approach to adaptive observer design for joint estimation of the state and faults when the SPR requirement is not verified. The proposed method deals with a class of Lipschitz nonlinear systems subjected to piecewise constant multiplicative faults. The novelty of the proposed approach is that it uses a rank condition similar to the observer matching condition to construct the adaptation law used to obtain fault estimates. The problem of finding the adaptive observer matrices is formulated as a Linear Matrix Inequality (LMI) optimization problem. The proposed scheme is tested on the nonlinear model of a single link flexible joint robot system.
Źródło:
Archives of Control Sciences; 2016, 26, 2; 245-259
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
An improved dynamic surface sliding mode method for autonomous cooperative formation control of underactuated USVS with complex marine environment disturbances
Autorzy:
Dong, Zaopeng
Qi, Shijie
Yu, Min
Zhang, Zhengqi
Zhang, Haisheng
Li, Jiakang
Liu, Yang
Powiązania:
https://bibliotekanauki.pl/articles/32909478.pdf
Data publikacji:
2022
Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:
underactuated USV
dynamic surface sliding mode control
lateral velocity tracking differentiator
nonlinear disturbance observer
Opis:
In this paper, a novel dynamic surface sliding mode control (DSSMC) method, combined with a lateral velocity tracking differentiator (LVTD), is proposed for the cooperative formation control of underactuated unmanned surface vehicles (USVs) exposed to complex marine environment disturbances. Firstly, in view of the kinematic and dynamic models of USVs and the design idea of a virtual control law in a backstepping approach, the trajectory tracking control problem of USVs’ cooperative formation is transformed into a stabilisation problem of the virtual control law of longitudinal and lateral velocities. Then, aiming at the problem of differential explosion caused by repeated derivation in the process of backstepping design, the first-order low-pass filter about the virtual longitudinal velocity and intermediate state quantity of position is constructed to replace differential calculations during the design of the control law, respectively. In order to reduce the steady-state error when stabilising the virtual lateral velocity control law, the integral term is introduced into the design of the sliding mode surface with a lateral velocity error, and then the second-order sliding mode surface with an integral is structured. In addition, due to the problem of controller oscillation and the role of the tracking differentiator (TD) in active disturbance rejection control (ADRC), the LVTD is designed to smooth the state quantity of lateral velocity. Subsequently, based on the dynamic model of USV under complex marine environment disturbances, the nonlinear disturbance observer is designed to observe the disturbances and compensate the control law. Finally, the whole cooperative formation system is proved to be uniformly and ultimately bounded, according to the Lyapunov stability theory, and the stability and validity of the method is also verified by the simulation results.
Źródło:
Polish Maritime Research; 2022, 3; 47-60
1233-2585
Pojawia się w:
Polish Maritime Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode
Autorzy:
Qian, D. W.
Tong, S. W.
Li, C. D.
Powiązania:
https://bibliotekanauki.pl/articles/201511.pdf
Data publikacji:
2017
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
multi-agent system
formation control
integral sliding mode control
uncertainty
nonlinear disturbance observer
stability
system wieloagentowy
kontrola formacji
integralne sterowanie ślizgowe
niepewność
nieliniowy obserwator zakłóceń
stabilność
Opis:
This paper investigates the formation control problem of multiple agents. The formation control is founded on leader-following approaches. The method of integral sliding mode control is adopted to achieve formation maneuvers of the agents based on the concept of graph theory. Since the agents are subject to uncertainties, the uncertainties also challenge the formation-control design. Under a mild assumption that the uncertainties have an unknown bound, the technique of nonlinear disturbance observer is utilized to tackle the issue. According to a given communication topology, formation stability conditions are investigated by the observer-based integral sliding mode formation control. From the perspective of Lyapunov, not only is the formation stability guaranteed, but the desired formation of the agents is also realized. Finally, some simulation results are presented to show the feasibility and validity of the proposed control scheme through a multi-agent platform.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2017, 65, 1; 35-44
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
An exponential observer and a controller for a class of nonlinear systems
Autorzy:
Hammami, M. A.
Zribi, M
Kallel, J
Powiązania:
https://bibliotekanauki.pl/articles/229713.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
nonlinear system
observer
stability
controller
stabilization
Opis:
In this paper, we study the observer design problem for a class of nonlinear systems. Specifically, we design an exponential observer for a separately excited DC motor. Moreover, a stabilizing controller is designed for the system to ensure the exponential stability of the solutions toward their desired values. Simulations results show that proposed observer is able to reconstruct the states of the system. In addition, the simulation results indicate that the designed controller works well.
Źródło:
Archives of Control Sciences; 2013, 23, 1; 79-92
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
State estimation for miso non-linear systems in controller canonical form
Autorzy:
Schwaller, B.
Ensminger, D.
Dresp-Langley, B.
Ragot, J.
Powiązania:
https://bibliotekanauki.pl/articles/331350.pdf
Data publikacji:
2016
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
nonlinear system
state observer
continuous time
układ nieliniowy
obserwator stanu
układ ciągły
Opis:
We propose a new observer where the model, decomposed in generalized canonical form of regulation described by Fliess, is dissociated from the part assuring error correction. The obtained stable exact estimates give direct access to state variables in the form of successive derivatives. The dynamic response of the observer converges exponentially, as long as the nonlinearities are locally of Lipschitz type. In this case, we demonstrate that a quadratic Lyapunov function provides a number of inequalities which guarantee at least local stability. A synthesis of gains is proposed, independent of the observation time scale. Simulations of a Düffing system and a Lorenz strange attractor illustrate theoretical developments.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2016, 26, 3; 569-583
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
State estimation for a class of nonlinear systems
Autorzy:
Schwaller, B.
Ensminger, D.
Dresp-Langley, B.
Ragot, J.
Powiązania:
https://bibliotekanauki.pl/articles/330611.pdf
Data publikacji:
2013
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
nonlinear system
state observer
continuous time
układ nieliniowy
obserwator stanu
układ ciągły
Opis:
We propose a new type of Proportional Integral (PI) state observer for a class of nonlinear systems in continuous time which ensures an asymptotic stable convergence of the state estimates. Approximations of non-linearity are not necessary to obtain such results, but the functions must be, at least locally, of the Lipschitz type. The obtained state variables are exact and robust against noise. Naslin’s damping criterion permits synthesizing gains in an algebraically simple and efficient way. Both the speed and damping of the observer response are controlled in this way. Model simulations based on a Sprott strange attractor are discussed as an example.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2013, 23, 2; 383-394
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Separation Principle for Nonlinear Systems: a Bilinear Approach
Autorzy:
Hammani, M. A.
Jerbi, H.
Powiązania:
https://bibliotekanauki.pl/articles/908331.pdf
Data publikacji:
2001
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
układ nieliniowy
układ dwuliniowy
obserwator
stabilizacja
nonlinear systems
bilinear systems
observer
stabilization
Opis:
In this paper we investigate the local stabilizability of single-input nonlinear affine systems by means of an estimated state feedback law given by a bilinear observer. The associated bilinear approximating system is assumed to be observable for any input and stabilizable by a homogeneous feedback law of degree zero. Furthermore, we discuss the case of planar systems which admit bad inputs (i.e. the ones that make bilinear systems unobservable). A separation principle for such systems is given.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2001, 11, 2; 481-492
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Wyświetlanie 1-15 z 25

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