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Multi Observer Structure for Rapid State Estimation in Linear Time Varying Systems
Jakub Bernat 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.4
A new method to design observers for linear time-varying systems is presented in this paper. The method begins by constructing two layers. The first layer is made up of multiple observers, while the second establishes a relationship between observers via a weighted estimation state. The primary challenge was to find a new feedback process that would determine the second layer weights. The multiple observers of the first layer were investigated to determine a general observation law. The resulting multilayer structure significantly improves the transient characteristics of the observation process, which leads to a more efficient control system.
NARMAX Approach for the Identification of a Dielectric Electroactive Polymer Actuator
Jakub Bernat,Jakub Kołota,Paulina Superczy´nska 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.9
System identification is a field of control engineering that deals with the preparation of a mathematical description by recognizing the static and dynamic properties of automation systems. It becomes particularly important in the black-box approach, in which the modeling technique constructs a model using only the output data obtained from the system based on the known input signal. One of the most complete and powerful identification methodologies available today for the identification of nonlinear systems is the NARMAX approach. This paper presents and compares three methodologies used to approximate the unknown structure of a dielectric electroactive polymer actuator by applying one-step and multi-step prediction. The motivation of this study was to check the possibilities of the recent identification techniques on the object with complicated dynamics like DEAP actuators.