Adaptive Observer Research Articles

Robust output group formation tracking control of heterogeneous multi-agent systems with multiple leaders using reinforcement learning

This paper studies the distributed output formation tracking problem of grouped heterogeneous multi-agent systems under multiple leaders and uncertainties using reinforcement learning (RL). The outputs of followers are supposed to achieve robust tracking to the respective convex point of group leaders while generating an expected time-varying formation configuration. First, a distributed adaptive observer is designed under a directed graph to coordinate the multiple group leaders while estimating the leaders’ dynamics in finite-time. The adaptive mechanism avoids global information of the graph. Second, an optimal tracking problem with respect to the observer is formulated for each follower, while the feedback tracking controller is derived using an action-dependent RL algorithm. An extended learning process for essential dynamics is constructed using the same data, while the output regulation equations are solved equivalently. Third, the robust formation controller and feasibility condition are further proposed based on previous learning results. Stability of the synthetical data-driven controller is analyzed under internal uncertainties and external disturbances. Finally, simulation results are provided to demonstrate the effectiveness of the hierarchical control framework.

Parameter identification of linear systems with heat sensors subject to unknown space-varying parameters

We extend existing works on control of (finite-dimensional) linear systems with (infinite-dimensional) heat sensors [6]. The extension lies on the one hand, in the fact that all system poles and zeros are unknown and, on the other, in the fact that sensor equations include unknown spatially-varying parameters. These uncertainties make the problem of parameter identification quite challenging. The existing adaptive observers for this type of systems prove not to be applicable in the presence of these uncertainties. Presently, we develop an identification method that involves multi-sine exciting input signals. Doing so, the inaccessible signal at the junction point, between the system and the sensor, can be given an affine parameterized form. It turns out that the identification problem of the sensor is decoupled from that of the system. Then, a parameter estimator involving K-filters is designed to get estimates of the sensor parameters as well as those of the inaccessible signal at the junction point. A new persistent excitation concept is introduced that ensures exponential convergence of the sensor parameter estimates and the estimated junction signal. The latter is then used to identify the parameters of the system dynamics.

DISLPSI: A framework for source localization in signed social networks with structural balance

The theory of structural balance in signed networks plays an important role in information dissemination. Source localization is crucial for suppressing the spread of negative information, however, existing research on source localization has overlooked the theory of network structural balance. In this paper, we leverage the theory of structural balance in signed networks to develop a framework for source localization. This framework, called Direction Induced Search and Source Identification based Label Propagation (DISLPSI), consists of two main components: the Direction Induced Search (DIS) algorithm constructs a relaxed-induced search tree, and the Source Identification based Label Propagation (LPSI) algorithm validates the propagation source within the search tree. Meanwhile, in order to improve the proximity between the relaxed direction-induced search tree and the real propagation path, we propose the Adaptive Observation Node Selection (AONS) algorithm. Extensive simulation experiments demonstrate that the original LPSI algorithm performs very poorly in signed networks, proving that LPSI cannot be directly applied to signed networks. Conversely, the DISLPSI framework is effective in accurately localizing the source and robustness against the structural balance. Furthermore, the observer nodes selected by the AONS algorithm significantly enhance the source localization. We also find that the source localization framework is more advantageous in homogeneous networks than in heterogeneous networks.

Drivers of Membrane Fouling in the Non-Aqueous Vanadium Acetylacetonate Redox Flow Battery

Due to their unique advantages in terms of long cycle life and modular design, redox flow batteries (RFBs) are being developed to load-level and peak shave energy from intermittent sources such as wind and sunlight. RFBs have yet to meet the stringent cost requirements needed to achieve broad market penetration, however. The second largest cost associated with state-of-the art RFBs after the electrolyte itself is the ion-exchange membrane, which accounts for 30% of the total cell cost [1]. Porous separators provide a pathway to substantially decrease the cost of RFBs, but long-term performance has been difficult to assess due to the coupling of electrolyte degradation, self-discharge, and membrane fouling. This study applies an adaptive observer model to estimate crossover from the open-circuit voltage relaxation of RFB cells, providing detailed information that can be used to decouple membrane fouling from electrolyte degradation by side reactions.For this study the nonaqueous V(acac)3 (vanadium acetylacetonate) electrolyte chemistry [2] is used. Because the RFB cell reaction is based on an electrochemical disproportionation of the neutral V(acac)3 complex, crossover of the active species in this system only results in reversible self-discharge.A novel set of 'canary cell' experiments unequivocally point to membrane fouling as the predominant factor that drives permanent cell degradation. An adaptive observer [3] is used to monitor the crossover rate, which is a proxy for membrane porosity, during self-discharge experiments where the cell is fully charged and the voltage is monitored during an open-circuit relaxation. Figure 1 shows that the porous Daramic separator starts off with ideal Fickian behavior because crossover is a linear function of the state of charge. Over time, however, the cell deviates, with active-species crossover becoming non-Fickian as the membrane fouls. The mass transfer coefficient (determined by the slope of the curve) decreases with exposure to current. It is hypothesized that pore clogging is responsible for this decreasing mass transfer coefficient, and in turn the diminution of cell performance. Deconvoluting membrane and electrolyte processes is a crucial step to determine the stability and long-term viability of RFB electrolyte systems.

Sensorless control algorithm for induction motor using adaptive observers

Sensorless control algorithm for induction motor using adaptive observers

Finite-time composite learning control for flexible-link manipulator based on disturbance observer

With the development of robotic technology and theory, there is an expectation for robots to operate in complex environments. This paper addresses the joint tracking control problem of flexible-link manipulator system under unknown external disturbances, modelling uncertainties, and actuator saturation constraints. A research is conducted, proposing a composite learning control scheme based on adaptive finite-time disturbance observer (AFTDO). The designed AFTDO can estimate the upper bound of unknown disturbances by adaptive laws, and a neural network controller is developed based on the AFTDO algorithm to compensate and suppress disturbances from multiple sources, ensuring the stability of all variables within a finite time. Simultaneously, a barrier Lyapunov function (BLF) is chosen to guarantee that the system satisfies constraints under flexible vibrations. Finally, through simulation comparisons with other control strategies, the feasibility and superiority of the proposed method are convincingly demonstrated.

Global terminal sliding-mode finite-time rotary control of hydraulic roofbolter based on an adaptive observer

Global terminal sliding-mode finite-time rotary control of hydraulic roofbolter based on an adaptive observer

Synthesis of adaptive observer for nonlinear nonstationary systems

Synthesis of adaptive observer for nonlinear nonstationary systems

Experimental and numerical study on data-driven prediction for wildfire spread incorporating adaptive observation error adjustment

In recent wildfire prediction research, data assimilation (DA) methods like Ensemble Kalman filtering have gained traction for integrating observation data to enhance prediction accuracy. Most previous studies trusted that the observation data were accurate, and set a small observation error, which causes unreliable predicted results for scenarios with large observation error. To tackle this, our study introduced a method that iteratively adjusted the potential range of observation errors by comparing observation and simulation data over time. We conducted a 30-m experiment and kilometer-scale numerical simulations. Unlike prior research, we adopted larger error ranges (the similarity index with true data ranges from 0.6 to 1) for both real and synthetic observation data. In the experiment, to increase the complexity of fire spread, a heterogeneous fuel arrangement was employed. Irregular flame fronts appeared due to incomplete combustion and were difficult to replicate in simulations. Better accuracy was achieved using real observation data to revise predictions. Furthermore, to improve the applicability of the algorithm, numerical simulations were designed to consider observation error changing over time or not. The Root Mean Square Errors for the fire front prediction using the proposed method remained lower than that of the traditional DA approach.

Fuzzy-type 2 fractional fault tolerant adaptive controller for wind turbine based on adaptive RBF neural network observer

Fuzzy-type 2 fractional fault tolerant adaptive controller for wind turbine based on adaptive RBF neural network observer

Prescribed-time adaptive state observer approach for distributed output-feedback formation tracking of networked uncertain underactuated surface vehicles

Prescribed-time adaptive state observer approach for distributed output-feedback formation tracking of networked uncertain underactuated surface vehicles

Resilient adaptive event-triggered containment control of nonlinear multi-agent system under concurrent DoS attacks and disturbances

This paper presents a secure containment control problem of nonlinear Multi-Agent Systems (MASs) under aperiodic Denial of Service (DoS) attacks and external disturbances simultaneously. A novel adaptive neural network (NN)-based event-triggered control is considered that uses the nonlinear estimator to predict the state of other agents. Since data access is denied during DoS attacks, the overall system switches between two modes of stable and unstable containment behaviours. Therefore, the maximum of attack duration and frequency is determined such that the overall system evolution leads to containment convergence in the presence of DoS attacks. We proposed an adaptive NN-based distributed disturbance observer to estimate external disturbances in a nonlinear system's dynamics. The state estimator predicts neighbouring agents' states, and each agent's input and event times are determined without monitoring other agents. The directed graph topology is used to determine data exchange among agents instead of an undirected graph that reduces implementation conditions. Zeno-free behaviour is also proved by analysis of the system. Eventually, the numerical simulation of the proposed approach is shown. Abbreviations: DoS attacks, Containment control of multi-agent system

Observer-based adaptive memory event-triggered consensus tracking control for high-speed train under DoS attacks

This paper focuses on the event-triggered consensus tracking of high-speed trains under denial-of-service (DoS) attacks. A novel anti-disturbance control strategy is proposed, based on an adaptive memory state observer and a disturbance observer. A memory is introduced to buffer system output information which enhancing the precision of the state observer, and the gust disturbance during the high-speed train operation is estimated by the disturbance observer. The Linear Matrix inequality technique is used to obtain the observer feedback coefficient and the controller gain, and the Lyapunov theory is employed to demonstrate the controller’s consistency tracking performance. Applying the memory to the event-triggered mechanism, a new adaptive memory event-triggered scheme is designed to better ensure system performance and effectively prevent the occurrence of Zeno behavior. To achieve precise identification of DoS attacks in the event-triggered environment, a new detection algorithm is proposed. Finally, simulation examples are used to validate the effectiveness and practicality of the proposed scheme.

A novel concurrent learning-based fixed-time convergent visual depth observer for weakly persistently exciting perspective dynamical systems

The problem of synthesizing a fixed-time depth observer based on monocular image feedback is considered in this study. The key challenge lies in the fact that the perspective dynamical system used to model visual motion is typically characterized as being weakly persistently exciting, which complicates observer synthesis. Furthermore, the key to achieving the task objective (safe obstacle avoidance, for instance) lies in the synthesis of a depth observer that achieves rapid convergence of the (static) obstacle depth estimate to the ground truth in a known fixed-time. To address these challenges, and in contrast with prior schemes that rely on a motion-restrictive persistency of excitation (PE) condition for ensuring exponential convergence, a novel adaptive observer framework is considered in this study that incorporates a concurrent learning (CL) term for ensuring fixed-time observer convergence. In particular, the use of concurrent learning allows for the synthesis of a relaxed finite-time excitation condition that relies on historical data recorded over a dynamic sliding window in the recent past that the proposed observer relies on to ensure fixed-time convergence. Thus, a continuous-time reduced-order observer formulation is presented that relies on camera motion data to achieve fixed-time convergence to a uniform ultimate bound for a suitably large choice of the observer gains. Experimental results are used to demonstrate the efficacy of the proposed scheme in the presence of significant measurement noise. A performance comparison study is also undertaken to demonstrate superior performance of the proposed scheme compared to leading alternative designs. Finally, the practical applicability of the proposed scheme is verified by incorporating the proposed scheme within a reactive navigation scheme to accomplish obstacle avoidance. By incorporating a suitably informative CL term within the observer framework, the proposed scheme eliminates the need to rely on a difficult-to-verify PE condition, thus rendering it more suitable for practical applications like visual target-tracking and visual servo control.

Indirect adaptive observer control (I-AOC) design for truck–trailer model based on T–S fuzzy system with unknown nonlinear function

Tracking is a crucial problem for nonlinear systems as it ensures stability and enables the system to accurately follow a desired reference signal. Using Takagi–Sugeno (T–S) fuzzy models, this paper addresses the problem of fuzzy observer and control design for a class of nonlinear systems. The Takagi–Sugeno (T–S) fuzzy models can represent nonlinear systems because it is a universal approximation. Firstly, the T–S fuzzy modeling is applied to get the dynamics of an observational system in order to estimate the unmeasurable states of an unknown nonlinear system. There are various kinds of nonlinear systems that can be modeled using T–S fuzzy systems by combining the input state variables linearly. Secondly, the T–S fuzzy systems can handle unknown states as well as parameters known to the indirect adaptive fuzzy observer. A simple feedback method is used to implement the proposed controller. As a result, the feedback linearization method allows for solving the singularity problem without using any additional algorithms. A fuzzy model representation of the observation system comprises parameters and a feedback gain. The Lyapunov function and Lipschitz conditions are used in constructing the adaptive law. This method is then illustrated by an illustrative example to prove its effectiveness with different kinds of nonlinear functions. A well-designed controller is effective and its performance index minimizes network utilization—this factor is particularly significant when applied to wireless communication systems.

Monitoring and Reconstruction of Actuator and Sensor Attacks for Lipschitz Nonlinear Dynamic Systems Using Two Types of Augmented Descriptor Observers

Fault data injection attacks may lead to a decrease in system performance and even a malfunction in system operation for an automatic feedback control system, which has motive to develop an effective method for rapidly detecting such attacks so that appropriate measures can be taken correspondingly. In this study, a secure descriptor estimation technique is proposed for continuous-time Lipschitz nonlinear cyber physical systems affected by actuator attacks, sensor attacks, and unknown process uncertainties. Specifically, by forming a new state vector composed of original system states and sensor faults, an equivalent descriptor dynamic system is built. A proportional and derivate sliding-mode observer is presented so that the system states, sensor attack, and actuator attack can be reconstructed successfully. The observer gains are obtained by using linear matrix inequality to secure robustly stable estimation error dynamics. Moreover, a robust descriptor fast adaptive observer estimator is presented as a complement. Finally, the efficacy levels of the proposed design approaches are validated using a vertical take-off and landing aircraft system. Comparison studies are also carried out to assess the tracking performances of the proposed algorithms.

Output Feedback Active Fault Tolerant Control for a 3-DOF Laboratory Helicopter With Sensor Fault

In this paper, an output feedback-based active fault tolerant control (FTC) scheme is proposed for an unstable three degree-of-freedom (3-DOF) helicopter equipped only with angular position sensors, of which a single sensor can be faulty. Limited by the available outputs, existing fault estimation (FE) and FTC schemes cannot be applied to this helicopter because when the sensor measuring the elevation or travel angle is faulty, it does not satisfy the minimum-phase and matching conditions required by standard observers. To circumvent this problem, an adaptive interval observer is firstly designed as a fault detection and isolation (FDI) unit to indicate the occurrence and location of a fault, in contrast to the existing FDI methods that require a bank of observers and incur a high computational cost. Then a high-gain observer is combined with a sliding mode observer to form an FE unit that does not require the matching and minimum-phase conditions. Based on the estimate of the fault, an FTC scheme is constructed to ensure an <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\mathcal{H}_{\infty}$</tex-math> </inline-formula> performance of the faulty system. Finally, physical experiments on the 3-DOF helicopter verify the effectiveness of the proposed scheme. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i> —The 3-DOF lab helicopter serves as an ideal experimental platform for control strategies. In this paper, an active fault tolerant control (FTC) scheme is developed for a 3-DOF lab helicopter when any single sensor can be faulty. The helicopter is nonlinear and subject to external disturbances. There are only encoders measuring the attitude angles and no sensors for angular velocities. In this paper, we firstly design a fault detection and isolation (FDI) unit based on an adaptive interval observer to detect the fault and identify its location; it incurs a lower computational cost compared to existing methods that use a bank of observers. Then a high-gain observer is combined with a sliding mode observer to estimate the fault. Based on the estimate of the fault, an FTC scheme is constructed and designed using Linear Matrix Inequalities to ensure an <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\mathcal{H}_{\infty}$</tex-math> </inline-formula> performance of the faulty system.

Fault Tolerant Control of Fuzzy Stochastic Distribution Systems With Packet Dropout and Time Delay

The fault diagnosis (FD) and fault tolerant control (FTC) problem of the fuzzy stochastic distribution system (SDS) over packet dropout and time delay is studied. Firstly, the static model of linear fuzzy logic system that approximates the output PDF and the dynamic model with the multiplicative fault in a fuzzy system are established. The random packet dropout and time delay caused by the network are described in a unified framework, in which the lost data is compensated with the latest data received by the buffer. On this basis, an adaptive observer is devised to estimate the unknown multiplicative fault. The design of sliding mode predictive fault tolerant controller is discussed to ensure that the system still has good tracking performance after the fault occurs. Numerical simulations on a molecular weight distribution control system are supplied to prove the effectiveness of the presented scheme. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i> —The motivation of this paper is to improve the reliability of the fuzzy stochastic distribution system with packet dropout and time delay. This kind of stochastic distribution systems is described by the relationship between the input and the output PDF rather than the normal relationship between the input and the output. When the multiplicative fault occurs in the system, the design of fault diagnosis strategy and fault-tolerant controller becomes an important challenge, especially when the system is subject to packet dropout and time delay. To address the above problems, a new fault diagnosis and fault-tolerant control scheme is proposed, which can accurately estimate the time and size of the fault and obtain the satisfactory fault-tolerant control effect.

Dynamic assessment approach for intelligent power distribution systems based on runtime verification with requirements updates

The study aims to address the challenge of dynamic assessment in power systems by proposing a design scheme for an intelligent adaptive power distribution system based on runtime verification. The system architecture is built upon cloud–edge-end collaboration, enabling comprehensive monitoring and precise management of the power grid through coordinated efforts across different levels. Specifically, the study employs the adaptive observer approach, allowing dynamic adjustments to observers to reflect updates in requirements and ensure system reliability. This method covers both structural and parametric adjustments to specifications, including updating time protection conditions, updating events, and adding or removing responses. The results demonstrate that with the implementation of adaptive observers, the system becomes more flexible in responding to changes, significantly enhancing its level of efficiency. By employing dynamically changing verification specifications, the system achieves real-time and flexible verification. This research provides technical support for the safe, efficient, and reliable operation of electrical power distribution systems.

Adaptive Periodic Disturbance Observer Based on Fuzzy Logic Compensation for Speed Fluctuation Suppression of PMSM Under Periodic Loads

Adaptive Periodic Disturbance Observer Based on Fuzzy Logic Compensation for Speed Fluctuation Suppression of PMSM Under Periodic Loads