Nonlinear State Research Articles

A novel unified variational finite difference (VFD) solution method for optimal control problems

This article is aimed to propose a simple yet efficient unified numerical strategy for solving both linear and non-linear optimal control problems. To do so, the general form of quadratic performance index function and nonlinear state equations are considered first. Then, the idea of variational differential quadrature method is used to convert the integral/differential equations to the equivalent algebraic form. Since time is the only independent variable is this research, the finite difference method with an equally-spaced discretization scheme would be a more appropriate technique rather than the differential quadrature approach. So, the implemented numerical solution is called now as the variational finite difference method. The method of Lagrange multipliers is then utilized for minimization purpose and, as a result, the final set of nonlinear algebraic equations are obtained. Finally, the quadratic and triadic forms of non-linearity are considered and an explicit formulation is represented for the residual and Jacobian of the Newton-based iterative solution procedure. To demonstrate the accuracy and efficiency of the proposed approach in the quadratic optimal control area, several benchmark problems involving linear time-invariant, linear time-variant and nonlinear examples are successfully solved and the results are confirmed with those existed in the literature.

Overcoming Losses through Phase Locking in Nonlinear Quasi-Bound States in the Continuum Metasurfaces

Overcoming Losses through Phase Locking in Nonlinear Quasi-Bound States in the Continuum Metasurfaces

Intelligent Monitoring and Optimization of Wind Turbine Operation Status on Basis of Vibration Signals

In response to the large monitoring errors and incomplete consideration of fault locations in the operation status of wind turbines, this paper combined vibration signals and used a model constructed using nonlinear state estimation technology (NSET) to monitor and optimize the operation status of wind turbines. Firstly, it collected relevant SCADA (supervisory control and data acquisition) and vibration sensor data of Unit 5 of Guangdong Yangjiang Shaba Offshore Wind Farm on site, and used wavelet transform to denoise the vibration signal. Then, full consideration can be given to the faulty parts such as wind blades and gearboxes, and a model constructed by NSET using Markov distance to construct a process memory matrix can be used to monitor the status of the wind turbine equipment. Finally, the multi-level fuzzy comprehensive evaluation method can be used to optimize the comprehensive evaluation of the operating status of wind turbines, reducing monitoring errors.

Iterative UKF under generalized maximum correntropy criterion for intermittent observation systems with complex non-Gaussian noise

The traditional unscented Kalman filters (UKFs) under the maximum correntropy criterion provide a powerful tool for nonlinear state estimation with heavy-tailed non-Gaussian noise. Nevertheless, the above-mentioned filters may yield biased estimates because the Gaussian kernel function can only handle certain types of non-Gaussian noise. Additionally, the use of statistical linearization methods can result in approximation errors when solving linear observation equations, while the system may also experience observation data loss. Therefore, a new iterative UKF with intermittent observations under the generalized maximum correntropy criterion is proposed for systems with complex non-Gaussian noise, called GMCC-IO-IUKF. Firstly, the connection between the UKF with and without intermittent observations is established by designing a coefficient matrix including intermittent observation variables, so as to derive the UKF with intermittent observations under the maximum correntropy criterion. Secondly, for the measurement update of GMCC-IO-IUKF, a nonlinear regression augmented model that can deal with both prediction and observation errors is established using the coefficient matrix and the nonlinear function. To better adapt to different types of non-Gaussian noise, the generalized Gaussian kernel function is substituted for the traditional Gaussian kernel function. Theoretically, GMCC-IO-IUKF can achieve better estimation performance by directly employing the nonlinear function and the latest iteration value. Finally, a classical target tracking model is used to evaluate the estimation performance and feasibility of our proposed GMCC-IO-IUKF algorithm. It appears from the experiment results that our proposed GMCC-IO-IUKF can not only promote estimation precision but also handle complex non-Gaussian noise flexibly.

Robust recursive sigma point Kalman filtering for Huber-based generalized M-estimation

For nonlinear state estimation driven by non-Gaussian noise, the estimator is required to be updated iteratively. Since the iterative update approximates a linear process, it fails to capture the nonlinearity of observation models, and this further degrades filtering accuracy and consistency. Given the flaws of nonlinear iteration, this work incorporates a recursive strategy into generalized M-estimation rather than the iterative strategy. The proposed algorithm extends nonlinear recursion to nonlinear systems using the statistical linear regression method. The recursion allows for the gradual release of observation information and consequently enables the update to proceed along the nonlinear direction. Considering the correlated state and observation noise induced by recursions, a separately reweighting strategy is adopted to build a robust nonlinear system. Analogous to the nonlinear recursion, a robust nonlinear recursive update strategy is proposed, where the associated covariances and the observation noise statistics are updated recursively to ensure the consistency of observation noise statistics, thereby completing the nonlinear solution of the robust system. Compared with the iterative update strategies under non-Gaussian observation noise, the recursive update strategy can facilitate the estimator to achieve higher filtering accuracy, stronger robustness, and better consistency. Therefore, the proposed strategy is more suitable for the robust nonlinear filtering framework.

Finite-Time Fault-Tolerant Control via Fully Actuated System Approaches.

In this article, a finite-time fault-tolerant controller based on the fully actuated system (FAS) theory is presented to realize system stabilization and trajectory tracking. Paralleling to first-order nonlinear state space theory, the high-order FAS (HOFAS) theory contains rich controller design approaches. The existing FAS approaches can only give general global asymptotic stability results. In order to enhance the applicability of FAS approaches in fast control systems, a parameterized FAS stabilization controller based on the homogeneity principle is established for global finite-time stability. Moreover, a finite-time FAS tracking controller based on a finite-time observer is proposed for a HOFAS model with process faults. The proposed observer can yield zero-value convergence of state estimation error and fault estimation error in a finite time, and the proposed fault-tolerant controller can yield zero-value convergence of tracking error in a finite time. The main results are proved theoretically and illustrated experimentally.

Adaptive complementary sliding mode control of ship course under environmental disturbance

In this paper, an adaptive complementary sliding mode control strategy based on nonlinear extended state observer (NESO) is proposed for the ship course tracking control subject to environmental disturbances. By introducing the adaptive law, the system uncertainty is estimated and adjusted, so that the boundary layer of the complementary sliding mode control can realize dynamic changes and ensure the system robustness. At the same time, the auxiliary control system is introduced to compensate the complementary sliding mode control law to guarantee the system stability under finite actuation. For the environmental disturbances of the heading process, a NESO is designed for real-time estimation and compensated to the adaptive complementary sliding mode control law to improve the robustness of the system. The closed-loop stability is proved, and simulation results show that the control strategy effectively improves the tracking accuracy and robustness of the system.

Adaptive polynomial Kalman filter for nonlinear state estimation in modified AR time series with fixed coefficients

AbstractThis article presents a novel approach for adaptive nonlinear state estimation in a modified autoregressive time series with fixed coefficients, leveraging an adaptive polynomial Kalman filter (APKF). The proposed APKF dynamically adjusts the evolving system dynamics by selecting an appropriate autoregressive time‐series model corresponding to the optimal polynomial order, based on the minimum residual error. This dynamic selection enhances the robustness of the state estimation process, ensuring accurate predictions, even in the presence of varying system complexities and noise. The proposed methodology involves predicting the next state using polynomial extrapolation. Extensive simulations were conducted to validate the performance of the APKF, demonstrating its superiority in accurately estimating the true system state compared with traditional Kalman filtering methods. The root‐mean‐square error was evaluated for various combinations of standard deviations of sensor noise and process noise for different sample sizes. On average, the root‐mean‐square error value, which represents the disparity between the true sensor reading and estimate derived from the adaptive Kalman filter, was 35.31% more accurate than that of the traditional Kalman filter. The comparative analysis highlights the efficacy of the APKF, showing significant improvements in state estimation accuracy and noise resilience.

Comparative study of kernel- and deep learning-based proxy models for nonlinearly constrained life-cycle production optimization

This study presents a comparative study for the application of deep learning–based and kernel-based proxy models in hydrocarbon production optimization with nonlinear constraints, comparing their performance against high-fidelity simulators (HFS) in terms of computational efficiency and the quality of the results achieved. One of the proxy models employed is referred to as embed to control and observe (E2CO), a deep learning–based model. The other model is a kernel-based proxy model known as least-squares support-vector regression (LS-SVR). Both proxy models can predict production/injection outputs for each well. We use the sequential quadratic programming (SQP) method for nonlinearly constrained production optimization. Our optimization objective revolves around the net present value (NPV), while the nonlinear state constraints involve field liquid production rate (FLPR) and field water production rate (FWPR). NPV, FLPR, and FWPR are estimated using two different types of proxy models. The gradient of the objective function and the Jacobian matrix of constraints are computed analytically for LS-SVR. In contrast, the method of stochastic simplex approximated gradient (StoSAG) is employed for optimization with E2CO and HFS. The reservoir model considered in this study is a two-phase, three-dimensional reservoir characterized by channelized and heterogeneous permeability, sourced from the SPE10 benchmark case. We optimize well controls to maximize NPV in an oil-water waterflooding scenario. All proxy models can achieve optimal NPV results like those obtained through HFS but with significantly lower computational resources. Both proxy models are found to be approximately 15-fold more efficient than using HFS when the number of simulation runs is compared. Forward prediction results show that both proxy models outperform numerical simulator, and the E2CO can predict up to 2400 times faster than HFS whereas speedups gained over HFS go up to 5000-fold with LS-SVR. The training time required for E2CO is at least an order of magnitude longer than that for LS-SVR. The main contributions of the paper are (i) development of a novel methodology that uses an E2CO proxy model within a gradient-based iterative retraining proxy approach for life-cycle production optimization with nonlinear state constraints, (ii) comparison of this methodology in terms of computational cost and accuracy with an LS-SVR proxy model, and (iii) new insights into the accuracy and prediction performances of these machine learning-based proxy models for 3D oil-water systems as well as their efficiency in nonlinearly constrained production optimization for waterflooding applications.

Output-feedback formation tracking control of autonomous surface vessels with collision avoidance

In this paper, a formation control problem with collision avoidance is investigated for underactuated surface vessels with position–heading measurements. Each vessels is subject to actuator magnitude and rate saturations. At first, an anti-saturation nonlinear extended state observer is developed to recover the linear velocity and yaw rate as well as unknown uncertainty and disturbances. Then, observer-based formation control laws are designed based on an artificial potential functions, obstacle avoidance yaw references and a backstepping technique. The stability of closed-loop formation control system is proved. The salient features of this paper are as follows. First, formation control with the capability of collision avoidance is achieved by using artificial potential functions and obstacle avoidance yaw references, which is more aggressive. Second, the proposed controller is able to deal with the magnitude and rate constraints of the actuator. Third, the proposed anti-saturation nonlinear extended state observer can achieve better estimation results for rapidly changing signals. Simulation results are given to substantiate the proposed formation control laws.

How Can Anomalous-Diffusion Neural Networks Under Connectomics Generate Optimized Spatiotemporal Dynamics.

Spatiotemporal dynamics in the brain have been recognized as strongly related to the formation of perceived and cognitive diseases, such as delusions and hallucinations in Alzheimer's disease. However, two practical considerations are rarely mentioned in related mechanism research: the connectomics networking and the anomalous diffusion generated by the complex medium between neurons and the complex topology of neural networks, respectively. Furthermore, how to optimize the corresponding dynamics behaviors has excellent implications for treating brain diseases. This article first realizes the networking under connectomics for an anomalous-diffusion single-neuron model and applies a nonlinear state feedback control to generate optimized dynamic behaviors, which provides a paradigm of nonequilibrium self-organization driven by anomalous diffusion. Then, by tracing the root distribution of the characteristic equation, some controlled conditions causing or inhibiting Turing instability and Hopf bifurcation are deduced, and the effects of self-diffusion and cross diffusion on Turing instability range are also revealed. At last, thorough numerical simulations are updated to illustrate the results. It is emphasized that delay, self-diffusion, cross diffusion, and fractional order occupy dominant positions in determining the network's spatiotemporal dynamics, and utilizing the control strategy can efficiently reduce Turing instability and delay Hopf bifurcation.

A semi-active adaptive pneumatic vibration isolator based on frequency response analysis and nonlinear control

In this work, an adaptive nonlinear error feedback controller based on fuzzy state observer is proposed to a novel rubber pneumatic vibration isolator (PVI) system. First, a novel rubber PVI system is designed and developed. Harmonic balance method is applied to establish the dynamic model of the PVI system, so as to analyze the frequency response characteristics of the system. Second, to improve the PVI performance in low-frequency vibration, a nonlinear state error feedback control system based on fuzzy state observer is designed for the active PVI system. Furthermore, the experiment system is established. Finally, through the experimental comparison under 5 Hz, 7 Hz, 20 Hz, and 40 Hz, an adaptive PVI strategy is proposed. The experimental results demonstrate that the adaptive PVI shows better performance in vibration isolation.

Active disturbance rejection control for piezoelectric cantilever beam with time delay

This Letter presents an active control method for the vibration of piezoelectric structures. First, a controller based on nonlinear extended state observer is designed to improve the disturbance rejection capability of the vibration structure. Additionally, an improved nonlinear active disturbance rejection control (IMNADRC) method is combined with Smith predictor for time delay compensation, resulting in Smith predictor-based IMNADRC. Finally, numerical simulations and experiments are carried out for active vibration suppression of piezoelectric beam under fixed harmonic excitation and variable harmonic excitation, respectively. The results show that the proposed method has good control effect on structural vibration suppression and is highly adaptable to various external excitations.

Design, hydrodynamics analysis, and control of an underwater glider with controllable wing mechanism

Due to the effect of biofouling and different mission sensors that may be onboard, hydrodynamic coefficients of underwater glider (UG) may experience gradual or obvious changes, which increases the energy consumption and reduces the glide range. This paper proposes a controllable wing mechanism (CWM) for UG, which enables it adjust the hydrodynamic coefficients and kinematic performance without changing the net buoyancy. Only by two degrees of freedom (DoF), that CWM can realize the control of wingspan, sweep back angle and chord width. To apply the hydrodynamics controlled with CWM in glide model, the fitting precision of hydrodynamics function is improved based on backpropagation artificial neural network (BPANN). A nonlinear state observer based on finite impulse response (FIR) filter is employed for state estimation and random noise interference filtering to realize measurements and evaluation of velocity and reduce the attitude angle measurement error for UG. Then, the FIR-based fuzzy PID (FFPID) controller is established for a steady-state gliding motion control, which suppresses the unknown interference to stablize the system quickly. Finally, the effectiveness of the FFPID closed-loop controller and observer is verified through the simulation in matlab and the experimental test of the UG with CWMs in a water tank.

Pipe roughness calibration approach for water distribution network models using a nonlinear state observer

This paper introduces an online approach based on a nonlinear state observer (NSO) to calibrate the roughness of each pipe within a water distribution network (WDN) or a sector thereof. The NSO is designed to obtain the estimations of pipes' friction factors, which are then used to estimate the roughness. The core of the NSO is a dynamic WDN model formulated through a structured set of ordinary differential equations derived from fundamental physical principles and taking advantage of both graph theory and rigid water column theory. By applying a coordinate transformation, the WDN model is represented as a fully connected network of damped nonlinear oscillators, with each oscillator formulated as a Liénard system. This representation allows for estimating the friction factors for each pipe using only flow rate information. The proposed approach facilitates a continuous calibration when hydrodynamic data are readily accessible, which is a capability that empowers engineers to enhance, concurrently or proactively, the day-to-day operations of water distribution networks, such as control or diagnose tasks, whenever data are available. The results of numerical simulations are presented to illustrate the practical utility of the proposed method.

A new observer-based controller for continuous-time nonlinear systems with applications on electrical energy systems

In this paper a new observer-based controller is developed for continuous-time input constrained nonlinear systems. Firstly, a new developed continuous time Regularized Least Square (CRLS) estimator is presented. The estimated states are then used to generate the desired constrained state feedback control strategies to regulate the performance of a perturbed system to the desired steady state. Unlike the well-known continuous-time nonlinear state estimators, such as the high gain observer and others, the developed observer does not show large overshoots at the start of the estimation process, the estimation errors reach zero steady state very shortly, has no pre-specified limitations on the class of nonlinear systems to be estimated, …etc. As a result, when used as an element in observer-based controlled systems, then the desired behaviors of the state trajectories of the controlled system are reached very shortly. The asymptotic stability of the proposed constrained observer-based controlled nonlinear system is rigorously analyzed. Simulation results are presented to justify the applicability and the efficiency of the proposed approach. Firstly, to show the superiority of the developed CRLS estimator, the states of illustrative practical problems are firstly estimated using the proposed approach. The achieved results are then compared with those achieved from applying the most famous and widely used observers in the literature. Then, two nonlinear practical control problems are used to demonstrate the effectiveness of the developed observer- based control approach.

Adaptive sliding mode control with disturbance estimation for hydraulic actuator systems and application to rock drilling jumbo

For achieving high-performance control of hydraulic actuator systems, an adaptive sliding mode control with disturbance estimation algorithm is proposed and successfully applied to the hydraulic actuator systems of rock drilling jumbo. A switching extended state observer for hydraulic actuator systems is proposed, which combines the advantages of the linear extended state observer and the nonlinear extended state observer to estimate system disturbances more efficiently. The designed parameter adaptive law provides adaptivity to the system parameters, while the disturbance estimation algorithm can online estimate the unknown disturbances, such integration can enhance the adaptability and robustness of the sliding mode control algorithm. Rigorous simulation tests and practical application experiments are conducted to evaluate the performance of the proposed controller. The reliability of the designed parameter adaptive law and switching extended state observer is validated in detail in simulation studies. In the application experiments of rock drill jumbo, the results indicate the proposed controller is superior to sliding mode control with disturbance estimation and PID control. The average error of the developed controller is reduced by 58 %, 54 %, and 56 % compared to the sliding mode control with disturbance estimation controller, and 82 %, 78 %, and 79 % compared to the PID controller in tracking the low-frequency, high-frequency, and superimposed sinusoidal signals, respectively. Moreover, both the convergence of the uncertain parameters and the estimation of the unknown disturbances in the experiments are satisfactory. These experimental results adequately demonstrate the practical application value of the proposed controller.

Motion/force coordinated trajectory tracking control of nonholonomic wheeled mobile robot via LMPC-AISMC strategy

Nonholonomic constrained wheeled mobile robot (WMR) trajectory tracking requires the enhancement of the ground adaptation capability of the WMR while ensuring its attitude tracking accuracy, a novel dual closed-loop control structure is developed to implement this motion/force coordinated control objective in this paper. Firstly, the outer-loop motion controller is presented using Laguerre functions modified model predictive control (LMPC). Optimised solution condition is introduced to reduce the number of LMPC solutions. Secondly, an inner-loop force controller based on adaptive integral sliding mode control (AISMC) is constructed to ensure the desired velocity tracking and output driving torques by combining second-order nonlinear extended state observer (ESO) with the estimation of dynamic uncertainties and external disturbances during WMR travelling process. Then, Lyapunov stability theory is utilised to guarantee the consistent final boundedness of the designed controller. Finally, the system is numerically simulated and practically verified. The results show that the double-closed-loop control strategy devised in this paper has better control performance in terms of complex trajectory tracking accuracy, system resistance to strong interference and computational timeliness, and is able to realise effective coordinated control of WMR motion/force.

Distributed state estimation with compressed and synchronized auxiliary particle filters using graph theory

In this paper, we propose a novel compressed distributed auxiliary particle filter that uses graph theory (CDAPF-GT) to reduce the communication cost and improve the estimation accuracy of a nonlinear state space model. Our method compresses the global loglikelihood function into a set of parameters that are updated by an average consensus algorithm over a network of nodes. Unlike the existing methods, our method synchronizes the particle sets among all the nodes and uses the latest measurements to construct a better proposal distribution. Our method is suitable for applications that require fast and reliable distributed state estimation. We show through various simulation scenarios that our method outperforms the common counterpart method in terms of estimation accuracy with the same level of communication.

Super-twisting ADRC for maximum power point tracking control of photovoltaic power generation system based on non-linear extended state observer

This paper proposed a new method for maximum power point tracking in photovoltaic power generation systems by combining super-twisting sliding mode control and active disturbance rejection method. An incremental guidance method is used to find the point of maximum power. The non-linear extended state observer is applied to estimate the unmodeled dynamics and external disturbance. The ADRC based on a super-twisting sliding mode is designed to bring the state variables to the desired state. In the next step, the stability of NESO and ADRC are theoretically proved. Finally, the simulation results have been compared with the results of the PI controller, classical sliding mode control, and terminal sliding mode control (TSMC) presented in other articles. The results show the effectiveness and superiority of the proposed method.Also, to check the performance of the proposal method in real-time, real-time results have been compared with non-real-time results. The results obtained from the real-time and non-real-time simulations exhibited a minimal difference. This fact indicates the high accuracy of the modeling and simulations performed. Indeed, the mathematical models and non-real-time simulations have been able to accurately mimic the actual behavior of the photovoltaic system under various operating conditions.