A parametric design method of observer‐based state feedback controller for quasi‐linear systems

D, Gu; Duan, Sheng; Liu, Yindong

doi:10.1049/cth2.12336

Cited by 4 publications

(3 citation statements)

References 40 publications

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“…The premise of calculating gradient vector ∇ J ( i ) is to find ∂ e ( k ) / ∂ θ r and ∂ u ( k ) / ∂ θ r . Considering the structure shown in Figure 3, the state space expression of the controller (Gu et al, 2022) that can make the system stable is…”

Section: Design Of Dynamic Compensator Based On Gradient Estimatormentioning

confidence: 99%

Performance optimization of electromagnetic levitation system based on gradient estimator

Zhou,

Wen,

et al. 2023

Transactions of the Institute of Measurement and Control

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Aiming at the problem of optimal design of the controller of electromagnetic levitation system, this paper proposes a gradient estimator-based controller design and optimization structure suitable for electromagnetic levitation system. The structure consists of a nominal controller, a residual generator, and a dynamic compensator. The controller structure can further improve the anti-disturbance and robustness of the electromagnetic levitation system on the premise of ensuring the stability and reliability. Considering the generality of electromagnetic levitation system, the proportional–integral–derivative (PID) controller is selected as the nominal controller, and the robustness of the system is improved by the dynamic compensator based on the residual generator. The parameter design and update strategy of dynamic compensator based on gradient estimator are proposed, and the expression of gradient estimator is designed and deduced. Taking the single-degree-freedom electromagnetic levitation experimental platform as an example, the simulation and experimental results show that the structure has strong robustness to shock disturbances. Compared with the PID controller, the range of the gap fluctuation is smaller after the instantaneous impact interference, and the anti-interference capability of the electromagnetic levitation system is improved.

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Section: Design Of Dynamic Compensator Based On Gradient Estimatormentioning

confidence: 99%

Performance optimization of electromagnetic levitation system based on gradient estimator

Zhou,

Wen,

et al. 2023

Transactions of the Institute of Measurement and Control

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“…The estimate then serves as a substitute for non-measured signals, and it is then used by the control law as in [20] where the authors have addressed the trajectory tracking problem using saturated proportional-derivative (PD) control laws and disturbance compensation, in addition to an observer-based attitude tracking control that has been established in a separate design phase. The same procedure has been exploited in [21], where the authors have used the solution of a type of generalized Sylvester equation to parameterize a fullorder observer-based controller for a quasi-linear system. Moreover, the authors have demonstrated the validity of the separation theorem since they have considered perfectly known time-varying parameters and state values.…”

Section: Introductionmentioning

confidence: 99%

Combined Observer-Based State Feedback and Optimized P/PI Control for a Robust Operation of Quadrotors

Benzinane,

Rauh

2024

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This paper deals with a discrete-time observer-based state feedback control design by taking into consideration bounded parameter uncertainty, actuator faults, and stochastic noise in an inner control loop which is extended in a cascaded manner by outer PI- and P-control loops for velocity and position regulation. The aim of the corresponding subdivision of the quadrotor model is the treatment of the control design in a systematic manner. In the inner loop, linear matrix inequality techniques are employed for the placement of poles into a desired area within the complex z-plane. A robustification of the design towards noise is achieved by optimizing both control and observer gains simultaneously guaranteeing stability in a predefined bounded state domain. This procedure helps to reduce the sensitivity of the inner control loop towards changes induced by the outer one. Finally, a model-based optimization process is employed to tune the parameters of the outer P/PI controllers. To allow for the validation of accurate trajectory tracking, a comparison of the novel approach with the use of a standard extended Kalman filter-based linear-quadratic regulator synthesis is presented to demonstrate the superiority of the new design.

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“…Hence, as an important means of control, eigenstructure assignment for normal systems (Li and Lam, 2016; Yu and Duan, 2009), descriptor systems (Duan and Patton, 1997), and descriptor quasi-linear systems (Gu and Zhang, 2020, 2021; Gu et al, 2019) have become the focus of many scholars and been applied in related practical fields (Wang et al, 2022). In addition, many other problems of control system design have been solved effectively by using eigenstructure assignment theory (Gu and Wang, 2022; Gu et al, 2022a; Padula et al, 2021).…”

Section: Introductionmentioning

confidence: 99%

Partial eigenstructure assignment for descriptor high-order linear systems via proportional plus derivative state feedback: A parametric approach

Wang

Liu

2023

Transactions of the Institute of Measurement and Control

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In this paper, we present a parametric method to design proportional plus derivative (PD) state feedback for the problem of partial eigenstructure assignment (PESA) in a type of descriptor high-order linear time-invariant (LTI) systems. By dividing the original eigenstructure into replaced and remaining parts and using the solutions to the high-order generalized Sylvester equations (HGSEs), complete parameterized expressions of PD feedback controller and the replaced part of the right eigenvector matrix are established. With the proposed approach, the unsatisfactory eigenstructure in the open-loop system is changed into the expected eigenstructure in the closed-loop system, while the satisfactory part in the open-loop system is retained. Meanwhile, the regularity of the closed-loop system can also be well-guaranteed by the selection of arbitrary parameters. Finally, a numerical example and a flexible-joint robot system are presented to verify the feasibility and effectiveness of the proposed method, respectively.

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A parametric design method of observer‐based state feedback controller for quasi‐linear systems

Cited by 4 publications

References 40 publications

Performance optimization of electromagnetic levitation system based on gradient estimator

Performance optimization of electromagnetic levitation system based on gradient estimator

Combined Observer-Based State Feedback and Optimized P/PI Control for a Robust Operation of Quadrotors

Partial eigenstructure assignment for descriptor high-order linear systems via proportional plus derivative state feedback: A parametric approach

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