Observer-based LPV stabilization system for a riderless bicycle

López‐Estrada, Francisco‐Ronay; Zaragoza, Carlos Manuel Astorga; Valencia‐Palomo, Guillermo; Rojas, Carlos Rios; Gonzalez, Christian Galicia; Escobar-Gomez, Elias N.

doi:10.1109/tla.2018.8362140

Cited by 6 publications

(5 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…IP observers have diverse applications since they are considerably more robust to system input disturbances, compared to the previously cited observers [33]. Other observers such as linear observers with variable parameters (LPV) show excellent results in feedback and output injections in complex systems [34]. HG observers, such as the ones applied in this work, can implicitly include integral action, increasing their degrees of freedom.…”

Section: Overviewmentioning

confidence: 96%

A turbidity sensor development based on NL-PI observers: Experimental application to the control of a Sinaloa’s River Spirulina maxima cultivation

et al. 2020

View full text Add to dashboard Cite

This article addresses the problem of controlling the growth of microalgae originating in Mexican rivers, especially in the state of Sinaloa, Culiacan River. For this purpose, a robust, high-gain nonlinear observer is proposed to estimate the unknown disturbance in the cultivation of mixotrophic microalgae with the presence of organic nutrients. Once a perturbation function related to the change of ambient light is estimated, an output feedback control for the photobioreactor is proposed, in which through Lyapunov’s convergence functions, the final boundary stability conditions are obtained. Thus, a turbidity sensor was designed for Spirulina platensis, a native microalgae of Culiacan River, which is presented using the MATLAB-Arduino programming environment. This sensor is calibrated using biomass culture and is a low-cost device. Through the numerical study, the feasibility and performance of the control and the observer are evaluated. Finally, real-time experimental evaluations are made based on the literature, studying the use of robust controllers in a photobioreactor with a mixed culture, in the presence of environmental changes in lighting.

show abstract

Section: Overviewmentioning

confidence: 96%

A turbidity sensor development based on NL-PI observers: Experimental application to the control of a Sinaloa’s River Spirulina maxima cultivation

et al. 2020

View full text Add to dashboard Cite

show abstract

“…Due to the presence of C(θ(t)) post-multiplying B K (θ(t)) and D K (θ(t)) in (15), the procedure to obtain LMIs for design of the controller's matrices is somehow more complex. The system (1)-(2) is quadratically stabilizable using the convex controller (13)- (14) if there exist a positive definite matrix P ∈ S 2n x such that A cl (θ)P + PA cl (θ) ≺ 0, ∀θ ∈ Θ, where A cl (θ) is the state matrix of the autonomous system (15). Following Refs.…”

Section: Convex Output-feedback Controlmentioning

confidence: 99%

“…The TS approach was adopted rapidly by the control community and was applied to state estimation [7], control [8], fault detection [7], descriptor systems [9], state observers [10], waste-water treatment plants [11], bioreactors [12], process industry [13,14], mechatronics [15,16], aeronautics [17,18] and automotive [19,20], among others. Comprehensive material about the topic can be found in Refs.…”

Section: Introductionmentioning

confidence: 99%

A Review of Convex Approaches for Control, Observation and Safety of Linear Parameter Varying and Takagi-Sugeno Systems

2019

View full text Add to dashboard Cite

This paper provides a review about the concept of convex systems based on Takagi-Sugeno, linear parameter varying (LPV) and quasi-LPV modeling. These paradigms are capable of hiding the nonlinearities by means of an equivalent description which uses a set of linear models interpolated by appropriately defined weighing functions. Convex systems have become very popular since they allow applying extended linear techniques based on linear matrix inequalities (LMIs) to complex nonlinear systems. This survey aims at providing the reader with a significant overview of the existing LMI-based techniques for convex systems in the fields of control, observation and safety. Firstly, a detailed review of stability, feedback, tracking and model predictive control (MPC) convex controllers is considered. Secondly, the problem of state estimation is addressed through the design of proportional, proportional-integral, unknown input and descriptor observers. Finally, safety of convex systems is discussed by describing popular techniques for fault diagnosis and fault tolerant control (FTC).

show abstract

“…, M of Θ and Φ, respectively. Thereupon, let us consider the regions (8) and (18) and the inclusion E ⊆ V described by (19) to obtain (32).…”

Section: Theoremmentioning

confidence: 99%

“…Notably, many nonlinearities can be represented as varying parameters that depend on endogenous signals, for example, states and inputs [17], which broadens the applicability of the design methodology to nonlinear plants. Examples of successful applications of the LPV paradigm are-wind turbines [18], vehicles [19,20] and drones [21].…”

Section: Introductionmentioning

confidence: 99%

Design of State-Feedback Controllers for Linear Parameter Varying Systems Subject to Time-Varying Input Saturation

Ruiz¹,

Rotondo

Morcego³

2019

Applied Sciences

View full text Add to dashboard Cite

All real-world systems are affected by the saturation phenomenon due to inherent physical limitations of actuators. These limitations should be taken into account in the controller’s design to prevent a possibly severe deterioration of the system’s performance, and may even lead to instability of the closed-loop system. Contrarily to most of the control strategies, which assume that the saturation limits are constant in time, this paper considers the problem of designing a state-feedback controller for a system affected by time-varying saturation limits with the objective to improve the performance. In order to tie variations of the saturation function to changes in the performance of the closed-loop system, the shifting paradigm is used, that is, some parameters scheduled by the time-varying saturations are introduced to schedule the performance criterion, which is considered to be the instantaneous guaranteed decay rate. The design conditions are obtained within the framework of linear parameter varying (LPV) systems using quadratic Lyapunov functions with constant Lyapunov matrices and they consist in a linear matrix inequality (LMI)-based feasibility problem, which can be solved efficiently using available solvers. Simulation results obtained using an illustrative example demonstrate the validity and the main characteristics of the proposed approach.

show abstract

Observer-based LPV stabilization system for a riderless bicycle

Cited by 6 publications

References 0 publications

A turbidity sensor development based on NL-PI observers: Experimental application to the control of a Sinaloa’s River Spirulina maxima cultivation

A turbidity sensor development based on NL-PI observers: Experimental application to the control of a Sinaloa’s River Spirulina maxima cultivation

A Review of Convex Approaches for Control, Observation and Safety of Linear Parameter Varying and Takagi-Sugeno Systems

Design of State-Feedback Controllers for Linear Parameter Varying Systems Subject to Time-Varying Input Saturation

Contact Info

Product

Resources

About