Reduced-Order Observer Based Sliding Mode Control for a Quad-Rotor Helicopter

2016 ◽  
Vol 28 (3) ◽  
pp. 304-313 ◽  
Author(s):  
Reesa Akbar ◽  
◽  
Bambang Sumantri ◽  
Hitoshi Katayama ◽  
Shigenori Sano ◽  
...  
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Observer Design ◽  
Control Performance ◽  
Reduced Order ◽  
Reduced Order Observer ◽  
Euler Model ◽  
Sampled Measurements ◽  
Observation Noise

[abstFig src='/00280003/05.jpg' width=""230"" text='Quadcopter for repeated control verification' ] The reduced-order observer design we present estimates the velocity states of a quadrotor helicopter, or quadcopter, based on sampled measurements of position and attitude states. This observer is based on the forward-differentiation Euler model. The observer is robust enough against observation noise that the gain of a closed-loop controller is high enough to improve control performance. A sliding-mode controller stabilizes and implements quadcopter tracking control effectively, as is verified experimentally when compared to a conventional backward-difference method.

Reduced Order Observer Design with DMPC and LQR for System with Backlash Nonlinearity

2014 ◽  
Vol 39 (8) ◽  
pp. 6521-6530 ◽  
Author(s):  
Ahmed Mustafa ◽  
Khalid Munawar ◽  
Fahad Mumtaz Malik ◽  
Mohammad Bilal Malik ◽  
Muhammad Salman ◽  
...  
Keyword(s):  
Observer Design ◽  
Reduced Order ◽  
Reduced Order Observer ◽  
Backlash Nonlinearity

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.

Reduced-Order Observer Design for Boolean Control Networks

2020 ◽  
Vol 65 (1) ◽  
pp. 434-441 ◽  
Author(s):  
Zhihua Zhang ◽  
Thomas Leifeld ◽  
Ping Zhang
Keyword(s):  
Observer Design ◽  
Reduced Order ◽  
Control Networks ◽  
Reduced Order Observer

scholarly journals Consistency of Control Performance in 3D Overhead Cranes under Payload Mass Uncertainty

Electronics ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 657 ◽  
Author(s):  
Uyen Tu Thi Hoang ◽  
Hai Xuan Le ◽  
Nguyen Huu Thai ◽  
Hung Van Pham ◽  
Linh Nguyen
Keyword(s):  
Closed Loop ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Control Technique ◽  
Control Performance ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Mass Uncertainty ◽  
Payload Mass

The paper addresses the problem of effectively and robustly controlling a 3D overhead crane under the payload mass uncertainty, where the control performance is shown to be consistent. It is proposed to employ the sliding mode control technique to design the closed-loop controller due to its robustness, regardless of the uncertainties and nonlinearities of the under-actuated crane system. The radial basis function neural network has been exploited to construct an adaptive mechanism for estimating the unknown dynamics. More importantly, the adaptation methods have been derived from the Lyapunov theory to not only guarantee stability of the closed-loop control system, but also approximate the unknown and uncertain payload mass and weight matrix, which maintains the consistency of the control performance, although the cargo mass can be varied. Furthermore, the results obtained by implementing the proposed algorithm in the simulations show the effectiveness of the proposed approach and the consistency of the control performance, although the payload mass is uncertain.

scholarly journals Invariant Manifold Based Reduced-Order Observer Design for Nonlinear Systems

2008 ◽  
Vol 53 (11) ◽  
pp. 2602-2614 ◽  
Author(s):  
Dimitrios Karagiannis ◽  
Daniele Carnevale ◽  
Alessandro Astolfi
Keyword(s):  
Nonlinear Systems ◽  
Invariant Manifold ◽  
Observer Design ◽  
Reduced Order ◽  
Reduced Order Observer
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