계단식 관측기에 의한 수중 차의 상태추정

김동헌(Dong Hun Kim) 한국지능시스템학회 2009 한국지능시스템학회논문지 Vol.19 No.2

본 논문은 수중 차의 차속도와 프로펠러 각속도를 추정하는 문제를 다룬다. 계단식 관측기는 측정된 위치 값으로부터 속도 값 추정을 위해 사용한다. 고이득 관측기(high-gain observer)에 전형적으로 생기는 전형적인 문제를 없애기 위하여 계단식 구조의 관측기가 설계되었다. 고이득 관측기처럼 시스템 다이나믹스와 파라미터로부터 무관하게 설계할 수 있으며, 단순한 구조를 가진다. 관측기의 첫 단계에서 출력 값이 추정되고, 측정된 출력의 1계 미분 값이 관측기의 두 번째 단계를 통해 추정된다. 또한 출력의 n 번째 미분 값은 관측기의 n+1 번째 단계에서 추정된다. 제안된 관측기가 전체 점근적 안정도를 보장함을 보여준다. 시뮬레이션 결과는 기존의 고이득 관측기에 비해 제안된 관측기가 수중 차의 차속도와 프로펠러 각속도를 더 우수하게 추정함을 보여준다. This paper investigates the estimation problem of vehicle velocity and propeller angular velocity on the underwater vehicle. Inspired by but different from a high-gain observer, the cascade observer features a cascade structure and adaptive observer gains. In doing so the cascade observer attempts to overcome some of the typical problems that may pose to a high-gain observer. As in the case of a high-gain observer, the cascade observer structure is simple and universal in the sense that it is independent of the system dynamics and parameters. A cascade observer is used for the estimation of velocity from measured position. In the 1st step of the observer, the output is estimated, and the 1st order derivative of measured output is estimated via the 2nd step of the observer. Also, nth order derivative of the output is estimated in the (n+1)th step of the observer. It is shown that the proposed observer guarantees globally asymptotical stability. By simulation results, the proposed observer scheme for the estimations of vehicle velocity and propeller angular velocity shows better performance than the scheme based on the existing observer.

Linear Quadratic AMD Controller with an Observer for Buildings under Seismic Ground Motion

L. Guenfaf,S. Allaoua 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10

This paper is devoted to the study of active control with an observer for the control of structural vibration using an electric servomotor active mass driver (AMD) system. Composed primarily of an electric servomotor and a ball screw, the electrical AMD system is free from noise problems, oil leakage, and labor-intensive maintenance that commonly are associated with hydraulic AMD systems. For technological reasons and for cost reasons the number of sensors is limited by using the Luenberger observer. This observer is based on the synthesis of a static gain to stabilize the error state estimation and the convergence of the observer status to the state of the real system. In this study an instantaneous linear quadratic control algorithm is adopted using an observer. Numerical simulation is performed using a single sensor on the top floor of a five-story steel frame structure under the conditions of a Kanai-Tajimi power spectral density function of ground acceleration.

Controller Design Based on Interval-observer for Switched Systems With Observer-state-dependent Switching

Chuanjing Wu,Yue-E Wang,Di Wu 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.3

In this paper, we study the problem of interval-observer based controller design for switched linear systems with disturbance and measurement noise. First, we propose the definition of finite-time interval-observersfor switched systems and construct finite-time interval-observers for switched linear systems with observer-statedependent switching strategy by giving the ranges of the external disturbance and the measurement noise. Then,by using multiple Lyapunov functions method, some sufficient conditions are provided to guarantee the existenceof the finite-time interval-observers under maximum constraints, and at the same time, based on the proposed sufficient conditions, the observer gains are given and the corresponding sliding motion issue is also solved. Afterthat, we design an interval-observer-based feedback controller for the switched systems. Different from the traditional observer-based controller with state-dependent switching signal designed in most literatures, the controllerdesigned in the paper is based on interval-observer with observer-state-dependent switching signal. Compared withthe traditional observers, the interval-observers are robust to large uncertainties and can provide the ranges of thesystem states in any time. Finally, the feasibility of the proposed method is verified by two numerical examples.

A Novel Sliding Mode Observer for State of Charge Estimation of EV Lithium Batteries

Qiaoyan Chen,Jiuchun Jiang,Sijia Liu,Caiping Zhang 전력전자학회 2016 JOURNAL OF POWER ELECTRONICS Vol.16 No.3

A simple design for a sliding mode observer is proposed for EV lithium battery SOC estimation in this paper. The proposed observer does not have the limiting conditions of existing observers. Compared to the design of previous sliding mode observers, the new observer does not require a solving matrix equation and it does not need many observers for all of the state components. As a result, it is simple in terms of calculations and convenient for engineering applications. The new observer is suitable for both time-variant and time-invariant models of battery SOC estimation, and the robustness of the new observer is proved by Liapunov stability theorem. Battery tests are performed with simulated FUDS cycles. The proposed observer is used for the SOC estimation on both unchanging parameter and changing parameter models. The estimation results show that the new observer is robust and that the estimation precision can be improved base on a more accurate battery model.

A Novel Neural Second-Order Sliding Mode Observer for Robust Fault Diagnosis in Robot Manipulators

반미엔,강희준,서영수 한국정밀공학회 2013 International Journal of Precision Engineering and Vol. No.

This paper investigates an algorithm for fault diagnosis in robot manipulators using a novel neural second-order sliding mode observer. Differently from the conventional neural network observer and first-order sliding mode observer for the robust fault estimation schemes, the second-order sliding mode observer is first designed and compared with them. Although the secondorder sliding mode observer converges faster and with less error than each of the neural network and the first-order sliding mode observer does, it requires prior knowledge of the upper bound of the fault function. Because of this disadvantage, a neural second-order sliding mode observer is designed, which combines the second-order sliding mode observer with the neural network observer. The resulting observer not only preserves the features of the second-order sliding mode observer but also can improve it by removing the need for prior knowledge of the fault function upper bound. Computer simulation results for a PUMA560 industrial robot are also shown to verify the effectiveness of the proposed strategy.

관찰자/피관찰자 설계 패턴을 이용한 모바일 M/VC 응용 프레임워크

음두헌 ( Doohun Eum ) 한국인터넷정보학회 2006 인터넷정보학회논문지 Vol.7 No.2

최근, 휴대폰과 PDA 등의 무선기기 사용자가 급증하고 있다. 이에 따라 지리정보, 교통안내 시스템과 같은 모니터링 및 제어 응용이 무선기기에서 활발히 사용되고 있다. 본 논문에서는 모바일 응용 중, 모니터링 및 제어 응용인 M/VC(Model/View Controller) 응용의 신속한 작성을 지원하는 모바일 M/VC 응용 프레임워크를 소개한다. 모바일 M/VC 응용 프레임워크는 무선 통신 환경에서 클라이언트와 서버 객체의 상호작용을 자동 처리하기 위해 Java의 관찰자/피관찰자(Observer/Observable)를 확장한 모바일 관찰자/피관찰자 패턴과 관찰자/피관찰자 객체들의 조립 기능을 제공하는 Multiplexer와 Demultiplexer 클래스들을 지원한다. 개발자는 이 프레임워크를 이용하여 Observable과 MobileObserver 클래스들로부터 필요한 객체들을 생성한 후, 이들을 Multiplexer와 Demultiplexer 객체에 구성적으로(plug-and-play식으로) 상호 연결하여 응용을 생성한다. 즉, 개발자는 무선 환경을 고려하지 않고 모바일 M/VC 응용 프레임워크가 제공하는 Multiplexer나 Demultiplexer 클래스의 객체에 모바일 관찰자/피관찰자 객체들을 조립식으로 연결함으로써 피관찰자의 상태 변화가 관찰자에게 전달되고 관찰자를 통한 사용자의 입력이 피관찰자에게 전달되어 반영되는 모바일 모니터링 및 제어 응용을 신속하게 작성할 수 있다. 또한, 모바일 M/VC 응용 프레임워크는 무선 통신 환경하의 관찰자/피관찰자 객체들과 같은 컴포넌트 재사용성을 개선한다. Recently, the number of mobile phone and PDA users has been rapidly increased. Such monitoring and control applications as geographical and traffic information systems are being used widely with wireless devices. In this paper, we introduce the mobile M/VC application framework that supports the rapid constructions of mobile monitoring and control (M/VC) applications. The mobile M/VC application framework uses the mobile Observer/Observable pattern that extends the Java`s Observer/Observable for automatic interactions of server and client objects in wireless environments. It also provides the Multiplexer and Demultiplexer classes that supports the assembly feature of Observer and Observable objects. To construct an application using the framework, developers just need to create necessary objects from the Observable and MobileObserver classes and inter-connect them structurally (like the plug-and-play style) through the Multiplexer and Demultiplexer objects. Then, the state change of Observable objects is notified to the connected Observer objects and user`s input with Observer objects is propagated to Observable objects. These mechanism is the main process for monitoring and control applications. Therefore, the mobile M/VC application framework can improve the productivity of mobile applications and enhance the reusability of such components as Observer and Observable objects in wireless environments.

Observer-based Feedback Controller Design for Robust Tracking of Discrete-time Polytopic Uncertain LTI Systems

Oh, Sangrok,Kim, Jung-Su,Shim, Hyungbo The Korean Institute of Electrical Engineers 2015 Journal of Electrical Engineering & Technology Vol.10 No.6

This paper presents an observer-based robust controller for constant reference tracking of linear time invariant systems with polytopic model uncertainties. To this end, this paper not only designs a robust integral controller gain but also suggests how to determine the robust observer gain and the observer model used in the observer. Since the observer model selection is not obvious due to the polytopic uncertainties, particular attention needs to be paid to that. This paper computes the robust controller and observer gains first. Then, the observer model is selected in a way that the whole closedloop is stable and LMIs are used in the middle of choosing the gains and observer model. Simulation examples show that the proposed observer-based feedback control successfully achieves robust reference tracking.

Observer-based Feedback Controller Design for Robust Tracking of Discrete-time Polytopic Uncertain LTI Systems

오상록,김정수,심형보 대한전기학회 2015 Journal of Electrical Engineering & Technology Vol.10 No.6

This paper presents an observer–based robust controller for constant reference tracking of linear time invariant systems with polytopic model uncertainties. To this end, this paper not only designs a robust integral controller gain but also suggests how to determine the robust observer gain and the observer model used in the observer. Since the observer model selection is not obvious due to the polytopic uncertainties, particular attention needs to be paid to that. This paper computes the robust controller and observer gains first. Then, the observer model is selected in a way that the whole closedloop is stable and LMIs are used in the middle of choosing the gains and observer model. Simulation examples show that the proposed observer-based feedback control successfully achieves robust reference tracking.

Observer-based friction compensation in heavy-duty parallel robot control

Kamil Vedat Sancak,Zeki Yagiz Bayraktaroglu 대한기계학회 2021 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.35 No.8

This paper presents an experimental study on friction compensation for the high-precision tracking control of parallel manipulators. A Luenberger-like observer (LLO) and an extended state observer (ESO) are designed and implemented in real-time control of a 6-DoF heavy-duty Stewart-Gough platform (SGP). The dynamic Lu-Gre model is used in the identification of friction. Performances of the proposed observer-based friction compensators are compared to those of a model-based compensator in computed torque control. Experimental results show that the observer-based compensators significantly improve the tracking performances in high speed motions. Among the investigated observers, the ESO results in minimum RMS error in position tracking. Improvement in position tracking at velocity reversals of the individual leg motions is also observed with the contribution of observer-based compensation. The observer error dynamics is exponentially stable, and the convergence rate can be arbitrarily increased by tuning the observer gain.

Observer-based Feedback Controller Design for Robust Tracking of Discrete-time Polytopic Uncertain LTI Systems

Sangrok Oh,Jung-Su Kim,Hyungbo Shim 대한전기학회 2015 Journal of Electrical Engineering & Technology Vol.10 No.6

This paper presents an observer–based robust controller for constant reference tracking of linear time invariant systems with polytopic model uncertainties. To this end, this paper not only designs a robust integral controller gain but also suggests how to determine the robust observer gain and the observer model used in the observer. Since the observer model selection is not obvious due to the polytopic uncertainties, particular attention needs to be paid to that. This paper computes the robust controller and observer gains first. Then, the observer model is selected in a way that the whole closedloop is stable and LMIs are used in the middle of choosing the gains and observer model. Simulation examples show that the proposed observer-based feedback control successfully achieves robust reference tracking.