scholarly journals Discontinuous High-Gain Observer in a Robust Control UAV Quadrotor: Real-Time Application for Watershed Monitoring

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
A. E. Rodríguez-Mata ◽  
G. Flores ◽  
A. H. Martínez-Vásquez ◽  
Z. D. Mora-Felix ◽  
R. Castro-Linares ◽  
...  
Keyword(s):  
Control Algorithm ◽  
Lyapunov Stability Theory ◽  
High Gain ◽  
Observer Design ◽  
Nonlinear Observer ◽  
Attitude Dynamics ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
High Gain Observer ◽  
Digital Elevation

A control algorithm that is robust with respect to wind disturbances for a quadrotor UAV attitude dynamics is presented. The proposed approach consists of a high-gain observer based on a discontinuous technique. Such an algorithm is embedded on board the quadrotor. The high-gain observer estimates external disturbances such as wind and parameter uncertainties, and a control algorithm is designed to compensate these undesired effects. The observer design is based on Lyapunov stability theory; simulation results and experiments validate the nonlinear observer performance and robustness of the approach under windy conditions. Also, a photogrammetry survey was carried out to develop Digital Elevation Models in order to experimentally demonstrate the effectiveness of our approach. The accuracy of such models was compared and the performance improvement is demonstrated.

Average Modeling and Nonlinear Observer Design For Pneumatic Actuators With On/Off Solenoid Valves

2021 ◽  
Author(s):  
Khaled Laib ◽  
Minh Tu Pham ◽  
Xuefang LIN-SHI ◽  
Redha Meghnous
Keyword(s):  
Closed Loop ◽  
Sliding Mode ◽  
High Gain ◽  
Observer Design ◽  
Nonlinear Observer ◽  
State Model ◽  
Pressure Measurements ◽  
Pneumatic Actuators ◽  
Nonlinear Observers ◽  
Piston Position

Abstract This paper presents an averaged state model and the design of nonlinear observers for an on/off pneumatic actuator. The actuator is composed of two chambers and four on/off solenoid valves. The elaborated averaged state model has the advantage of using only one continuous input instead of four binary inputs. Based on this new model, a high gain observer and a sliding mode observer are designed using the piston position and the pressure measurements in one of the chambers. Finally, their closed-loop performances are verified and compared on an experimental benchmark.

Some Remarks on High Gain Observer Design

PAMM ◽  
2014 ◽  
Vol 14 (1) ◽  
pp. 931-932 ◽  
Author(s):  
Klaus Röbenack
Keyword(s):  
High Gain ◽  
Observer Design ◽  
High Gain Observer

scholarly journals Further Improvements in High Gain Observer Design for Systems with Structured Nonlinearities

PAMM ◽  
2016 ◽  
Vol 16 (1) ◽  
pp. 805-806 ◽  
Author(s):  
Mirko Franke ◽  
Klaus Röbenack
Keyword(s):  
High Gain ◽  
Observer Design ◽  
High Gain Observer

Implementation of State and Disturbance Estimation for Quadrotor Control Using Extended High-Gain Observers

2016 ◽  
Author(s):  
Connor J. Boss ◽  
Joonho Lee ◽  
Charles Carvalho de Aguiar ◽  
Jongeun Choi
Keyword(s):  
Control Algorithm ◽  
High Gain ◽  
Dynamic Inversion ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Disturbance Estimation ◽  
Sample Data ◽  
Estimation And Control ◽  
Control Forces ◽  
And Control

This paper proposes a discrete-time, multi-time-scale estimation and control design for quadrotors in the presence of external disturbances and model uncertainties. Assuming that not all state measurements are available, they will need to be estimated. The sample-data Extended High-Gain Observers are used to estimate unmeasured states, system uncertainties, and external disturbances. Discretized dynamic inversion utilizes those estimates and deals with an uncertain principal inertia matrix. In the plant dynamics, the proposed control forces the rotational dynamics to be faster than the translational dynamics. Numerical simulations and experimental results verify the proposed estimation and control algorithm. All sensing and computation is done on-board the vehicle.

scholarly journals Containment Control of Underactuated Ships with Environment Disturbances and Parameter Uncertainties

2017 ◽  
Vol 2017 ◽  
pp. 1-19 ◽  
Author(s):  
Qidan Zhu ◽  
Junda Ma ◽  
Zhilin Liu ◽  
Ke Liu
Keyword(s):  
Control Algorithm ◽  
Sliding Mode ◽  
Parameter Uncertainties ◽  
Feedback Form ◽  
Tracking Errors ◽  
External Disturbances ◽  
Simulation Experiments ◽  
Containment Control ◽  
State Information ◽  
Control Objective

An implementable robust containment control algorithm is proposed for a group of underactuated ships in the presence of hydrodynamic parameter uncertainties and external disturbances. The control objective is to drive all the followers into the convex hull spanned by the virtual leaders, whose state information is available only to a subset of the followers. For this purpose, the ship model is primarily transformed to a strict-feedback form. In the kinematic design, a virtual containment controller, requiring the state information from its neighbors, is presented based on the results obtained from graph theory. In the dynamic design, a robust containment controller is developed through utilizing upper-to-up sliding mode control. In addition, in order to simplify the implementations of the control law, the command filtered backstepping (CFBP) method is introduced to prevent the analytic differentiations of the virtual law from each design step of the backstepping (BP) method. Subsequently, it is well proven that all the tracking errors could converge to and remain small neighborhoods of the equilibrium point. Finally, several simulation experiments are conducted to demonstrate the performance of the proposed control algorithm.

A High-Gain Observer-Based Pd Controller Design for Dynamic Positioning of Ships

2014 ◽  
Vol 490-491 ◽  
pp. 803-808 ◽  
Author(s):  
Werneld Egno Ngongi ◽  
Jia Lu Du
Keyword(s):  
Controller Design ◽  
Lyapunov Stability Theory ◽  
High Gain ◽  
Dynamic Positioning ◽  
Pd Controller ◽  
Environmental Disturbances ◽  
Dynamic Positioning System ◽  
Surface Ship ◽  
High Gain Observer ◽  
And Performance

This paper addresses the problem of the dynamic positioning system of surface ships in the presence of constant environmental disturbances. In this paper we propose a high-gain observer-based PD controller to estimate unmeasured velocities of a surface ship. Lyapunov stability theory is applied to prove its stability. Finally, simulation is carried out using SIMULINK and appropriate results are obtained to illustrate the effectiveness and performance of proposed controller.

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