Polynomial robust observer implementation based passive synchronization of nonlinear fractional-order systems with structural disturbances

Kammogne, Alain Soup Tewa; Kountchou, Michaux; Kengne, Romanic; Azar, Ahmad Taher; Fotsin, Hilaire Bertrand; Ouagni, Soup Teoua Michael

doi:10.1631/fitee.1900430

Cited by 22 publications

(8 citation statements)

References 63 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Fig. (13) presents the integral of absolute error (IAE). We clearly observe that the FISMC is more robust than the ISMC method since the IAE has a lower value when the FISMC method is considered.…”

Section: The Reachability Conditionmentioning

confidence: 99%

“…In practice, a certain number of constraints of various kinds (thermal, electrical, mechanical and environmental) can affect the life of the machine by causing failures in the stator and rotor [22,25]. These failures are always present in electromechanical systems and are responsible for huge economic losses, so robust control strategies are required to avoid unexpected shutdowns [13,14]. The study of the induction motor, in the case of control, has become very important due to industrial development, especially for electric drives.…”

mentioning

confidence: 99%

See 1 more Smart Citation

Fuzzy-enhanced robust fault-tolerant control of IFOC motor with matched and mismatched disturbances

Teguia

Kammogne

Ganmene

et al. 2022

MFC

Self Cite

View full text Add to dashboard Cite

<p style='text-indent:20px;'>This paper focuses on the dynamical analysis of the permanent magnet asynchronous motor with the aim of subsequently designing effective robust control laws for the indirect field-oriented control (IFOC) devices. We first perform some tasks which demonstrate the existence of chaos phenomenon in the IFOC using relevant indicators such as phase portraits, bifurcations diagrams and Lyapunov exponents. Chaotic signature and some striking transitions are revealed such as period-doubling, torus, period-adding and chaos when an accessible parameter of the IFOC motor is changed. More interestingly, a certain range of the parameter space corresponds to the transient chaos. This behavior was not reported previously and can be considered as an enriching contribution. Secondly, due to the great interest to reduce the upper bound of uncertainties and interference, conventional sliding mode control (SMC) has been abundantly investigated for fault-tolerant control (FTC) systems. However, this approach presents several drawbacks in terms of overshoot, less robustness, transient state error, large chattering and speed of convergence that limit its use for industrial applications. For these reasons, the integral sliding mode control (ISMC) and the fuzzy sliding mode control (FISMC) are proposed to keep the IFOC motor in the regular operation zone. The optimal feedback gains and a sufficient condition are proposed for the stability of the overall IFOC system is drawn based on the linear quadratic regulator (LQR) method. To highlight the effectiveness and applicability of the proposed control scheme, numerical simulation results are presented. This analysis allows us a great knowledge of engineers for interpreting the operation of the IFOC motor. To highlight the effectiveness and the applicability of the proposed control scheme, numerical simulations results are presented and clearly demonstrated the feasibility of these techniques.</p>

show abstract

Section: The Reachability Conditionmentioning

confidence: 99%

mentioning

confidence: 99%

Fuzzy-enhanced robust fault-tolerant control of IFOC motor with matched and mismatched disturbances

Teguia

Kammogne

Ganmene

et al. 2022

MFC

Self Cite

View full text Add to dashboard Cite

show abstract

“…LESO performance will worsen if the bandwidth takes an unacceptably high or low value [31]. Optimum values for the controller and LESO bandwidth will provide an effective elimination of exogenic disturbances and tracking performance [32][33][34][35][36][37][38][39]. The side effects of approving large bandwidth values can be summarized as measurement noise potentially degrading output tracking, deterioration of the transient response of the LESO, and the possibility of some unmodelled high-frequency dynamics being activated beyond a certain frequency.…”

Section: Theoretical Backgroundmentioning

confidence: 99%

Parameterization of a Novel Nonlinear Estimator for Uncertain SISO Systems with Noise Scenario

Azar

Abdulmajeed²,

Majdi³

et al. 2022

Mathematics

Self Cite

View full text Add to dashboard Cite

Dynamic observers are commonly used in feedback loops to estimate the system’s states from available control inputs and measured outputs. The presence of measurement noise degrades the performance of the observer and consequently degrades the performance of the controlled system. This paper presents a novel nonlinear higher-order extended state observer (NHOESO) for efficient state and disturbance estimation in presence of measurement noise for nonlinear single-input–single-output systems. The proposed nonlinear function allows a fast reconstruction of the system’s states and is robust against uncertainties and measurement noise. An analytical parameterization technique is proposed to parameterize the coefficients of the proposed nonlinear higher-order extended state observer in the case of measurement noise in the output signal. Several scenarios are simulated to demonstrate the effectiveness of the proposed observer.

show abstract

“…Z(q, θ) = K(q − θ) (3) where q, q, q ∈ R n and θ, θ, θ ∈ R n denote the angular position, velocity, and acceleration of the links and motors, respectively. M(q) ∈ R n×n is the positive definite inertia matrix, C(q, q) ∈ R n×n is the centripetal-Coriolis matrix, G(q) ∈ R n is the gravitational of the link dynamics, Z(q, θ) ∈ R n is the elastic torque at flexible joints, and K, J ∈ R n×n are positive definite constant diagonal matrices representing joint stiffness and motor inertia, respectively.…”

Section: Dynamics Modelmentioning

confidence: 99%

“…It is always challenging to design controllers for robotic systems in the presence of uncertainties and/or disturbances, despite the extensive so-called robust control methods, such as robust adaptive control [3], repetitive control [4], back-stepping techniques [5], iterative learning control [6], etc. Among them, sliding mode control [7], with its simplicity in application, insensitivity to parameter variations and disturbances implicit in the input channels and non-model based robustness, remains one of the most effective approaches in handling bounded uncertainties and/or disturbances [8,9].…”

Section: Introductionmentioning

confidence: 99%

Chattering-Suppressed Sliding Mode Control for Flexible-Joint Robot Manipulators

Cheng

Liu

2021

Actuators

View full text Add to dashboard Cite

In this paper, sliding mode tracking control and its chattering suppression method are investigated for flexible-joint robot manipulators with only state measurements of joint actuators. First, within the framework of singular perturbation theory, the control objective of the system is decoupled into two typical tracking aims of a slow subsystem and a fast subsystem. Then, considering lumped uncertainties (including dynamics uncertainties and external disturbances), a composite chattering-suppressed sliding mode controller is proposed, where a smooth-saturation-function-contained reaching law with adjustable saturation factor is designed to alleviate the inherent chattering phenomenon, and a radial basis function neural network (RBFNN)-based soft computing strategy is applied to avoid the high switching gain that leads to chattering amplification. Simultaneously, an efficient extended Kalman filter (EKF) with respect to a new state variable is presented to enable the closed-loop tracking control with neither position nor velocity measurements of links. In addition, an overall analysis on the asymptotic stability of the whole control system is given. Finally, numerical examples verify the superiority of the dynamic performance of the proposed control approach, which is well qualified to suppress the chattering and can effectively eliminate the undesirable effects of the lumped uncertainties with a smaller switching gain reduced by 80% in comparison to that in the controller without RBFNN. The computational efficiency of the proposed EKF increased by about 26%.

show abstract

Polynomial robust observer implementation based passive synchronization of nonlinear fractional-order systems with structural disturbances

Cited by 22 publications

References 63 publications

Fuzzy-enhanced robust fault-tolerant control of IFOC motor with matched and mismatched disturbances

Fuzzy-enhanced robust fault-tolerant control of IFOC motor with matched and mismatched disturbances

Parameterization of a Novel Nonlinear Estimator for Uncertain SISO Systems with Noise Scenario

Chattering-Suppressed Sliding Mode Control for Flexible-Joint Robot Manipulators

Contact Info

Product

Resources

About