Observer-based Control Technique Research Articles

Fractional order sliding mode control based on delayed output observer for unmanned aircraft system

PurposeThis paper aims to design the fractional order sliding mode controller for highly maneuverable remote piloted unmanned aircraft with time-varying delays.Design/methodology/approachWith the assumption that the time-varying delays are bounded and identical for different outputs, an observer-based control technique is implied which reformulates the state variables based on the system model and delayed outputs. The estimated state variables are fed as feedback into the controller. Based on the delayed output observer, a fractional order sliding mode controller is designed. Further, the stability of the closed-loop system is analyzed and asymptotical convergence is realized using Lyapunov–Razumikhin theorem.FindingsThe simulation is done in Matlab and Simulink. The parametric variations and trajectory tracking results are illustrated which looks propitious.Practical implicationsIn practical operation, measurement signal is often delayed, which significantly degrade the control performance or even disturb the stability. It is emphasized to choose attitude as the evaluation indicator for unmanned aerial vehicle time delay.Originality/valueA novel fractional order sliding mode control technique is designed to enhance the trajectory tracking, thus autonomous flight performance, of the aircraft system. Also, the main idea behind this novel procedure is formulated for minimizing the parametric variations in presence of time delays.

Observer-Based Robust Control Method for Switched Neutral Systems in the Presence of Interval Time-Varying Delays

In this study, the challenges of the controller design of a class of Uncertain Switched Neutral Systems (USNSs) in the presence of discrete, neutral, and time-varying delays are considered by using a robust observer-based control technique. The cases where the uncertainties are normbounded and time-varying are emphasized in this research. The adopted control approach reduces the prescribed level of disturbance input on the controlled output in the closed-loop form and the robust exponential stability of the control system. The challenge of parametric uncertainty in USNSs is solved by designing a robust output observer-based control and applying the Yakubovich lemma. Since the separation principle does not generally hold in this research, the controller and observer cannot be designed separately, sufficient conditions are suggested. These conditions are composed of applying the average dwell time approach and piecewise Lyapunov function technique in terms of linear matrix inequalities, which guarantees robust exponential stability of the observer-based output controller. Finally, two examples are given to determine the effectiveness of the proposed method.

Attitude and height tracking control of unmanned helicopters with disturbances via disturbance observer-based composite dynamic surface control

In this paper, the attitude and height tracking control problem is studied for unmanned helicopters with disturbances. To solve the problem, a composite control scheme is proposed based on the combination of dynamic surface control and disturbance observer-based control techniques. The control design includes two parts. In the first part, some nonlinear disturbance observers are designed to accurately estimate the helicopter’s disturbances in different channels. In the second part, based on the disturbance estimates and dynamic surface control technique, a composite dynamic surface tracking controller is designed. Under the proposed composite controller, the attitude and height tracking errors are uniformly ultimately bounded and they can be regulated to be very small by selecting proper controller parameters. For one thing, the proposed control scheme avoids “explosion of terms”, which generally exists in conventional backstepping control and provides a simpler control design. For another thing, without sacrificing the nominal control performances, the anti-disturbance ability of the closed-loop helicopter system is enhanced by using disturbance observers and feedforward compensations. Numerical simulations demonstrate the effectiveness and advantages of the proposed composite tracking controller.

Sensorless SynRG Based Variable Speed Wind Generator and Single-Stage Solar PV Array Integrated Grid System With Maximum Power Extraction Capability

This article presents a grid-integrated hybrid renewable energy sources based system comprising a solar photovoltaic (PV) array and a wind energy conversion system (WECS). The WECS uses a position-sensorless synchronous reluctance generator (SynRG) for the electric power generation from the wind turbine (WT), wherein, a sensorless field-oriented control (FOC) is made use of for the maximum power extraction (MPE). A second-order flux estimation (SFE) method along with frequency-locked loop (FLL) is utilized for the accurate flux estimation from the SynRG stator voltages and currents. A set of back-to-back connected three-phase two leg voltage source converter (VSC) topology is selected for the grid integration of WECS. This system has a common dc link where the solar PV array and the machine-side VSC (MSC) of the wind generator, are directly connected. The power output from the solar PV array and WECS, is shared between the grid and the local loads. The maximum power generation from SynRG in the WECS, is achieved by operating the SynRG at the speed estimated by the MPE algorithm. The maximum power is drawn from the solar PV array by adjusting the dc-link voltage, which is decided by the algorithm. For the proper power control and power quality improvement, the grid-side converter (GSC) is adequately controlled by implementing an observer-based control technique. The real-time validation of the system, is carried out using a developed laboratory prototype.

Development and motion control of spatial serial robotic manipulator under varying disturbances

PurposeKey challenges in evaluating the performance of a robotic manipulator are disturbances that rise internally and externally. Effects of non-linear disturbances like varying payload and joint friction can adversely affect the tracking performance in a robotic manipulator. This paper aims to discuss motion control of a three-link spatial manipulator using a computed torque observer-based control technique.Design/methodology/approachThe overall motion control problem consists of derivation of kinematic and dynamic model of the manipulator followed by the control design to achieve desired manipulator response. In this study, the manipulator is subjected to uncertain varying load disturbances. The proposed motion controller compensates the effect of the disturbances and guarantees the convergence of tracking error to steady state value.FindingsOne major advantage of using observer-based control is positioning accuracy with robustness to parameter uncertainty and fast dynamics response. The performance of the proposed control technique is validated through real-time experiments conducted on the manipulator. The experiment results confirm the superior performance of the control system in achieving perfect tracking.Originality/valueThis paper demonstrates an observer-based control technique over a serial spatial manipulator which can be applied different robotic configurations under the effect of varying disturbances.

Robust Performance and Observer Based Control for Periodic Discrete-Time Uncertain Systems

This paper presents an approach for the synthesis of observer-based controllers for discrete-time periodic linear systems. The H2 performance criterion has been employed to design both the observer and the controller. For the periodic observer design, two conditions in the form of Linear Matrix Inequalities (LMIs) are proposed, which stem from the Lyapunov Theory applied over the dynamics of the estimation error. The LMI condition obtained for the periodic state-feedback controller results from the application of the duality principle over the periodic system, under the assumption that only the estimated states are available to be used in the state-feedback compensation. Numerical experiments illustrate the potential of the proposed observer-based control technique.

Scalability of feedback control systems for plug-and-play control

In this paper, with the help of the Youla parameterization, the realizations of feedback control systems are discussed which results in a preferable and more convenient way to realize plug-and-play (PnP) control without modifying pre-designed control systems. Furthermore, based on the equivalence of different realizations of the Youla parameterization, a link between the standard feedback and the observer-based state feedback control system is given so that the well developed observer-based control techniques, like LQG/H2 control etc., can be achieved in the standard feedback control system via PnP control design. The effectiveness of the proposed PnP design schemes is verified using a direct current (DC) motor benchmark system.

Nonlinear disturbance observer-based robust control of attitude tracking of rigid spacecraft

Robust control of attitude tracking system between two rigid spacecraft is addressed using nonlinear disturbance observer-based control technique. A relative attitude dynamics model is derived for spacecraft tracking maneuver, where parameter uncertainty and environmental disturbances are considered as disturbance torques. A composite control technique is proposed for robust attitude tracking of a rigid spacecraft about a spacecraft under multiple disturbances by combining a nonlinear disturbance observer with an asymptotic tracking control. The proposed nonlinear disturbance observer is used to enhance the disturbance attenuation ability and robustness performance against uncertain inertia parameter and disturbances by estimating and compensating for the disturbances through feedforward. Stability and tracking performance of the nonlinear disturbance observer are analyzed. Furthermore, the stability of the composed control approach consisting of the asymptotic tracking control and nonlinear disturbance observer is established through Lyapunov method. Simulation results show that the composite control technique can significantly enhance disturbance attenuation ability, robust dynamics performance and the desired relative attitude tracking accuracy of a rigid spacecraft under external disturbances and uncertain inertia matrix.

New observer-based control design for mismatched uncertain systems with time-delay

Abstract In this paper, the state estimation problem for a class of mismatched uncertain time-delay systems is addressed. The estimation uses observer-based control techniques. The mismatched uncertain time-delay systems investigated in this study include mismatched parameter uncertainties in the state matrix and in the delayed state matrix. First, based on a new lemma with appropriately choosing Lyapunov functional, new results for stabilization of mismatched uncertain time-delay systems are provided on the basis of a linear matrix inequality (LMI) framework and the asymptotic convergence properties for the estimation error is ensured. Second, the control and observer gains are given from single LMI feasible solution which can overcome the drawback of the bilinear matrix inequalities approach often reported in the literature. Finally, a numerical example is used to demonstrate the efficacy of the proposed method.

Observer-based robust control of one-sided Lipschitz nonlinear systems

This paper presents an observer-based controller design for the class of nonlinear systems with time-varying parametric uncertainties and norm-bounded disturbances. The design methodology, for the less conservative one-sided Lipschitz nonlinear systems, involves astute utilization of Young’s inequality and several matrix decompositions. A sufficient condition for simultaneous extraction of observer and controller gains is stipulated by a numerically tractable set of convex optimization conditions. The constraints are handled by a nonlinear iterative cone-complementary linearization method in obtaining gain matrices. Further, an observer-based control technique for one-sided Lipschitz nonlinear systems, robust against L2-norm-bounded perturbations, is contrived. The proposed methodology ensures robustness against parametric uncertainties and external perturbations. Simulation examples demonstrating the effectiveness of the proposed methodologies are presented.

Observer-Based Control Techniques for the LBT Adaptive Optics under Telescope Vibrations

This paper addresses the application of observer-based control techniques for the adaptive optics system of the LBT telescope. In such a context, attention is focused on the use of Kalman and H∞ filters to estimate the temporal evolution of phase perturbations due to the atmospheric turbulence and the telescope vibrations acting on tip/tilt modes. We shall present preliminary laboratory experiments carried out at the Osservatorio Astrofisico di Arcetri using the Kalman filter.

New Control Method Including State Observer of Voltage Unbalance for Grid Voltage-Source Converters

New observer-based disturbance-estimation and control algorithms are introduced in this paper that compensate source voltage unbalances. The algorithms are also designed to compensate the detrimental impact of delay effects caused by the digital-signal processing. Consequently, these techniques are appropriate for higher power systems with reduced pulsewidth modulation switching frequency and limited current-controller bandwidth. Analytical, simulation, and experimental results are presented to illustrate the effectiveness of the new observer-based control techniques.