Adaptive variable structure state estimation for uncertain systems with persistently bounded disturbances

2010 ◽  
Vol 20 (17) ◽  
pp. 2003-2015 ◽  
Author(s):  
Huai-Ning Wu ◽  
Peng Shi
Keyword(s):  
State Estimation ◽  
Uncertain Systems ◽  
Variable Structure ◽  
Structure State ◽  
Bounded Disturbances

A Unified Approach for Independent Manipulator Joint Acceleration Control and Observation

2003 ◽  
Author(s):  
ElSayed M. ElBeheiry ◽  
Ahmed S. Zaki ◽  
Waguih H. ElMaraghy
Keyword(s):  
Variable Structure ◽  
Small Time ◽  
Observer Design ◽  
Unified Approach ◽  
Variable Structure Systems ◽  
Procedural Approach ◽  
Structure State ◽  
Bounded Disturbances ◽  
The Stability ◽  
Joint Acceleration

The ultimate goal of a manipulator control design is to combine the design of both the controller and the observer into one procedural approach. Hence, the stability of the global system, namely, the manipulator dynamics, controller, and observer is guaranteed. This paper presents a new, unified approach in combining the control and observation problem for robotic manipulators. It links the design of an independent joint acceleration controller to the design of a variable structure state observer that is used to estimate the joint acceleration. Since both the joint acceleration controller and the observer introduced in this paper are likely to implement high gains to improve tracking, the effects of the time delay between the measurement of the output and the control loop response has been investigated. The observer design also considers the observation robustness against unknown but bounded disturbances using the theory of variable structure systems. A simulation study to investigate the performance of the joint acceleration controller and observer is conducted on a PUMA 560 robot. Simulation results showed that the proposed combination of observer and controller are robust to the change in the payload and small time delays.

scholarly journals State estimation for bilinear impulsive control systems under uncertainties

2018 ◽  
pp. 35-41 ◽  
Author(s):  
Oxana G. Matviychuk
Keyword(s):  
Differential Equations ◽  
State Estimation ◽  
Control Systems ◽  
Uncertain Systems ◽  
Impulsive Control ◽  
Compact Set ◽  
The Matrix ◽  
Initial States ◽  
Impulsive Control Systems ◽  
The Given

The state estimation problem for uncertain impulsive control systems with a special structure is considered. The initial states are taken to be unknown but bounded with given bounds. We assume here that the coefficients of the matrix included in the differential equations are not exactly known, but belong to the given compact set in the corresponding space. We present here algorithms that allow to find the external ellipsoidal estimates of reachable sets for such bilinear impulsive uncertain systems.

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