scholarly journals State Observer for Linear Systems with Explicit Constraints: Orthogonal Decomposition Method

Sensors ◽  
2021 ◽  
Vol 21 (18) ◽  
pp. 6312
Author(s):  
Sergei Savin ◽  
Oleg Balakhnov ◽  
Ramil Khusainov ◽  
Alexandr Klimchik
Keyword(s):  
State Observer ◽  
Orthogonal Decomposition ◽  
Observer Design ◽  
State Feedback Control ◽  
Dynamic State ◽  
Control Law ◽  
Sufficient Information ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Special Cases

In this paper, an orthogonal decomposition-based state observer for systems with explicit constraints is proposed. State observers have been an integral part of robotic systems, reflecting the practicality and effectiveness of the dynamic state feedback control, but the same methods are lacking for the systems with explicit mechanical constraints, where observer designs have been proposed only for special cases of such systems, with relatively restrictive assumptions. This work aims to provide an observer design framework for a general case linear time-invariant system with explicit constraints, by finding lower-dimensional subspaces in the state space, where the system is observable while giving sufficient information for both feedback and feed-forward control. We show that the proposed formulation recovers minimal coordinate representation when it is sufficient for the control law generation and retains non-minimal coordinates when those are required for the feed-forward control law. The proposed observer is tested on a flywheel inverted pendulum and on a quadruped robot Unitree A1.

A Method for State Observer Design in Bilinear Suspension Systems

1993 ◽  
Author(s):  
Sanjay K. Mahajan ◽  
Shriram Krishnan
Keyword(s):  
Simple Technique ◽  
State Observer ◽  
Observer Design ◽  
Pole Placement ◽  
Control Law ◽  
Time Varying ◽  
Suspension Systems ◽  
State Observers ◽  
Automotive Suspension ◽  
Suspension Models

Abstract This paper presents a simple technique of designing state observers for bilinear suspension models. A 2-DOF quarter-car automotive suspension is considered. The technique produces observer gains which dynamically depend on the control, and are obtained through observer pole placement in a time-varying system that uses Liapunov transformation. It is shown that the proposed use of this method could be effective in the design of modulated suspension systems, with certain limitations on the control law that is used.

scholarly journals Linear Robust Output Regulation in a Class of Switched Power Converters

2010 ◽  
Vol 2010 ◽  
pp. 1-22 ◽  
Author(s):  
Josep M. Olm ◽  
Domingo Biel
Keyword(s):  
Power Converters ◽  
Parametric Uncertainty ◽  
Voltage Regulation ◽  
Output Regulation ◽  
State Feedback Control ◽  
Dynamic State ◽  
Control Law ◽  
Robust Output Regulation ◽  
Resistive Loads ◽  
Output Regulation Problem

This article addresses the robust output regulation problem for a class of nonlinear switched power converters after its linearization by means of a change of the control vector variable. The methodology employs a dynamic state feedback control law and considers parametric uncertainty due to unknown values of resistive loads. Restrictions arising from the fact that the control gains exhibit fixed values are taken into account. The proposed technique is exemplified with the output voltage regulation of a Noninverting Buck-Boost converter and tested through realistic numerical simulations.

Finite-time control of uncertain time-varying systems in p-normal form

2020 ◽  
Author(s):  
Kanya Rattanamongkhonkun ◽  
Radom Pongvuthithum ◽  
Chulin Likasiri
Keyword(s):  
Normal Form ◽  
Finite Time ◽  
Control Law ◽  
Time Varying ◽  
Time Control ◽  
Special Cases ◽  
Time Varying Systems ◽  
A Chain ◽  
Uncertain Time ◽  
Power Integrator

Abstract This paper addresses a finite-time regulation problem for time-varying nonlinear systems in p-normal form. This class of time-varying systems includes a well-known lower-triangular system and a chain of power integrator systems as special cases. No growth condition on time-varying uncertainties is imposed. The control law can guarantee that all closed-loop trajectories are bounded and well defined. Furthermore, all states converge to zero in finite time.

Optimization approach to the constrained regulation problem for linear continuous-time fractional-order systems

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Xindong Si ◽  
Hongli Yang
Keyword(s):  
Feedback Control ◽  
Fractional Order ◽  
State Feedback Control ◽  
Invariant Sets ◽  
Linear Feedback ◽  
Control Law ◽  
Optimization Approach ◽  
Fractional Order Systems ◽  
Linear Feedback Control ◽  
Computational Point

AbstractThis paper deals with the Constrained Regulation Problem (CRP) for linear continuous-times fractional-order systems. The aim is to find the existence conditions of linear feedback control law for CRP of fractional-order systems and to provide numerical solving method by means of positively invariant sets. Under two different types of the initial state constraints, the algebraic condition guaranteeing the existence of linear feedback control law for CRP is obtained. Necessary and sufficient conditions for the polyhedral set to be a positive invariant set of linear fractional-order systems are presented, an optimization model and corresponding algorithm for solving linear state feedback control law are proposed based on the positive invariance of polyhedral sets. The proposed model and algorithm transform the fractional-order CRP problem into a linear programming problem which can readily solved from the computational point of view. Numerical examples illustrate the proposed results and show the effectiveness of our approach.

scholarly journals Model-based feed-forward control for time-varying systems with an example for SRF cavities

2020 ◽  
Vol 53 (2) ◽  
pp. 1331-1336
Author(s):  
Sven Pfeiffer ◽  
Annika Eichler ◽  
Holger Schlarb
Keyword(s):  
Time Varying ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Model Based ◽  
Time Varying Systems ◽  
Srf Cavities

Flatness Feed-Forward Control Model Based on Neural Networks

2014 ◽  
Vol 989-994 ◽  
pp. 3386-3389
Author(s):  
Zhu Wen Yan ◽  
Hen An Bu ◽  
Dian Hua Zhang ◽  
Jie Sun
Keyword(s):  
Neural Networks ◽  
Rolling Mill ◽  
Rolling Force ◽  
Work Roll ◽  
Control Model ◽  
Good Effect ◽  
Feed Forward ◽  
Force Fluctuations ◽  
Feed Forward Control ◽  
Roll Bending

The influence on the shape of the strip from rolling force fluctuations has been analyzed. The combination of intermediate roll bending and work roll bending has been adopted. The principle of rolling force feed-forward control has been analyzed. The feed-forward control model has been established on the basis of neural networks. The model has been successfully applied to a rolling mill and a good effect has been achieved.

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