Nonlinear observers comprising high-gain observers and extended Kalman filters

Boker, Almuatazbellah M.; Khalil, Hassan K.

doi:10.1016/j.automatica.2013.08.031

Cited by 43 publications

(19 citation statements)

References 21 publications

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“…Feedback of all the state variables are necessary in the state feedback control; however, in practice, not all the state variables in (4) can be measured accurately, therefore, state estimation based on the Kalman filter is employed to derive the state variables, which can be expressed as [25] x…”

Section: Smc Based On Lqcmentioning

confidence: 99%

Structure design and rotation control of the disc milling head in blisk manufacturing

Zhao

Huang

Shi

2016

Int J Adv Manuf Technol

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Blisks are the most important and critical components in the gas turbine engines, which could reduce the weight obviously and improve the efficiency significantly. To achieve high efficient machining of the titanium-based blisk, a powerful and composite processing method is proposed and structure of disc milling head with high stiffness and high precision is designed, including mechanical transmission, electrical system, rotating control, locking device, and tool changer. Then, static and dynamic analyses are carried out for the disc milling head, and calculation results show that the static and dynamic performances are perfect, which satisfy the processing requirements. Considering friction and backlash in the worm gear transmission, parameters perturbation in the electrical control system, and process noise and measurement noise in the system have serious impact on the positioning precision of disc milling rotation system, a robust sliding mode control (SMC) algorithm based on linear quadratic optimal control (LQC) is proposed. Based on the traditional LQC, introduce the state estimation based on Kalman filter and control input, improve the system state space model, and define a new sliding surface equation, then, a robust SMC based on LQC is finished. Simulation and experiment results show that the designed controller is robust to the nonlinearities and uncertainties in the rotation control system of disc milling head and can achieve high positioning precision.

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Section: Smc Based On Lqcmentioning

confidence: 99%

Structure design and rotation control of the disc milling head in blisk manufacturing

Zhao

Huang

Shi

2016

Int J Adv Manuf Technol

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“…Interpolation algorithms were also used in the structure of estimators to enhance the capability of the estimator . Boker and Khalil introduced a high‐gain observer to estimate output deviation and extended the Kalman filter to estimate the internal dynamic of the nonlinear systems. Cimen et al discussed asymptotically nonlinear filtration using the SDRE formulation .…”

Section: Introductionmentioning

confidence: 99%

Application of the state‐dependent Riccati equation for flexible‐joint arms: Controller and estimator design

Korayem

Lademakhi

Nekoo

2017

Optim Control Appl Methods

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Summary Full feedback data is mostly essential in control design. Measuring the links' variation of a flexible‐joint robot (FJR) is easy but not for its actuators. The measurement of states and workspace are also affected by noise and disturbance, respectively; hence, a state observer or a nonlinear estimator is very helpful to improve the control performance of a dynamic system. The state‐dependent Riccati equation (SDRE) is one of the most promising methods in the field of nonlinear optimal observers for estimating variables of multiple‐input–multiple‐output systems. Systematic procedure, simple structure, and incorporation of a wide range of systems (under an observability condition) are some of the advantages of the method. Therefore, the aim of this study is to compose the SDRE controller and estimator simultaneously to reduce the state error of the system in the presence of external disturbance and noise. The application of this method is shown for FJRs in the estimation of changes in motion behind the connection of the motor and link where there is no easy way to measure. The proposed composition of the SDRE controller and estimator was implemented on a 6R robot to examine the various aspects of FJR systems.

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“…In , the performance of EKF is compared with that of high‐gain observers for an electro‐pneumatic positioning system. The state estimation problem is also studied in to design high‐gain EKF for nonlinear systems with unstable zero dynamics. In another work , the performance of adaptive high‐gain EKF (AHG‐EKF) is evaluated on the application to a quadcopter inertial navigation system.…”

Section: Introductionmentioning

confidence: 99%

Distributed adaptive high‐gain extended Kalman filtering for nonlinear systems

Rashedi

Liu

Huang

2017

Intl J Robust & Nonlinear

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Summary In this work, we propose a distributed adaptive high‐gain extended Kalman filtering approach for nonlinear systems. Specifically, we consider a class of nonlinear systems that are composed of several subsystems interacting with each other via their states. In the proposed approach, an adaptive high‐gain extended Kalman filter is designed for each subsystem. The distributed Kalman filters communicate with each other to exchange estimated subsystem state information. First, assuming continuous communication among the distributed filters within deterministic form of subsystems, an implementation strategy that specifies how the distributed filters should communicate is designed and the detailed design of the subsystem filter is described. Second, we consider the case of stochastic subsystems for which the designed subsystem filters communicate to exchange information at discrete‐time instants. A state predictor in each subsystem filter is used to provide predictions of states of other subsystems. The stability properties of the proposed distributed estimation schemes with both continuous and discrete communications are analyzed. Finally, the effectiveness and applicability of the proposed schemes are illustrated via the application to a chemical process example. Copyright © 2017 John Wiley & Sons, Ltd.

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Nonlinear observers comprising high-gain observers and extended Kalman filters

Cited by 43 publications

References 21 publications

Structure design and rotation control of the disc milling head in blisk manufacturing

Structure design and rotation control of the disc milling head in blisk manufacturing

Application of the state‐dependent Riccati equation for flexible‐joint arms: Controller and estimator design

Distributed adaptive high‐gain extended Kalman filtering for nonlinear systems

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