Real-Time Fault-Tolerant Moving Horizon Air Data Estimation for the RECONFIGURE Benchmark

Wan, Yiming; Keviczky, Tamás

doi:10.1109/tcst.2018.2804332

Cited by 22 publications

(10 citation statements)

References 40 publications

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“…For example, in human-robot interaction (HRI), it is important to detect and classify collisions and contacts to guarantee safety in collaborative tasks [10], [11], such that robots and humans are allowed to share the same workspace and physical injuries are avoided [12]- [14]. More generally, disturbance estimation is also popularly studied for feed-forward disturbance compensation control [8], [15], robust control [16], [17] or fault-tolerant control [18], [19] strategies for various mechatronic systems.…”

Section: Introductionmentioning

confidence: 99%

Integral Sliding-Mode Observer-Based Disturbance Estimation for Euler–Lagrangian Systems

Zhang

Leibold

Wollherr

2020

IEEE Trans. Contr. Syst. Technol.

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In this paper, a novel integral sliding mode observer is proposed to estimate the external disturbance and velocity of Euler-Lagrangian systems. This method provides high bandwidth and precise estimation with only commanded input and position measurement. A system velocity measurement is not required to construct the sliding mode manifold. The convergence of the estimation error to zero is theoretically in finite time, which is proved by a direct Lyapunov method utilizing the passivity property of Euler-Lagrangian systems. An integral sliding manifold is designed to reduce the reaching phase, such that the robustness of the estimation is enhanced. The method has been applied to a robot manipulator to estimate the joint velocity and external contact forces in a physical human-robot task. Simulations and experiments reveal that this novel method provides fast, precise and robust estimation results and can be used to replace the measurement of an external force sensor. The successful application of this observer to a force-sensorless admittance controller for a manipulator contributes to the implementation of a sensor-free safety framework for humanrobot collaboration.

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Section: Introductionmentioning

confidence: 99%

Integral Sliding-Mode Observer-Based Disturbance Estimation for Euler–Lagrangian Systems

Zhang

Leibold

Wollherr

2020

IEEE Trans. Contr. Syst. Technol.

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“…Moreover, by designing an observer with the quantized signal and using the more general hyperbolic tangent function inequality, the proposed control scheme has been extended to uncertain nonlinear cascade systems with quantized inputs. In our future work, one of the further effort is to achieve the output feedback control for more general uncertain nonlinear cascade systems with external disturbance, and to investigate the event-triggered control for uncertain nonlinear systems by referring the control strategy in the work of Sun et al 31 Another research interest in our future is to study the structural security of nonlinear systems based on the existing system identification strategies in the work of Yu et al, [32][33][34] the fault-tolerant estimation approach in the work of Wan and Keviczky, 35 and the security problem in the work of Wu and Sun. 36…”

Section: Discussionmentioning

confidence: 99%

Global output feedback control for nonlinear cascade systems with unknown output functions and unknown control directions

Wang

Sun

2020

Intl J Robust & Nonlinear

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Summary This paper investigates the output feedback control for the uncertain nonlinear system with the integral input‐to‐state stable (iISS) cascade subsystem, which allow not only the unknown control direction but also the unknown output function. The unknown output function only needs to have a generalized derivative (which may not be derivable), and the upper and lower bounds of the generalized derivative need not to be known. To deal with the challenge raised by the unknown output function and the unknown control direction, we choose a special Nussbaum function with a faster growth rate to ensure the integrability for the derivative of the selected Lyapunov function. Then, a dynamic output feedback controller is designed to drive the system states to the origin while keeping the boundedness for all other closed‐loop signals. Moreover, via some appropriate transformations, the proposed control scheme is extended to deal with more general uncertain nonlinear cascade systems with quantized input signals. Finally, two simulation examples are given to show the effectiveness of the control scheme.

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“…It also enables to sufficiently exploit the advantages of both stand alone systems, such as UWB’s positioning accuracy does not change over time, and IMU’s short time positioning accuracy is extremely high [ 16 ]. Fusion of multiple sensors information and complete real-time fault diagnosis is currently the most popular solution [ 17 ].…”

Section: Introductionmentioning

confidence: 99%

A Federated Derivative Cubature Kalman Filter for IMU-UWB Indoor Positioning

Tang

2020

Sensors

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The inertial measurement unit and ultra-wide band signal (IMU-UWB) combined indoor positioning system has a nonlinear state equation and a linear measurement equation. In order to improve the computational efficiency and the localization performance in terms of the estimation accuracy, the federated derivative cubature Kalman filtering (FDCKF) method is proposed by combining the traditional Kalman filtering and the cubature Kalman filtering. By implementing the proposed FDCKF method, the observations of the UWB and the IMU can be effectively fused; particularly, the IMU can be continuously calibrated by UWB so that it does not generate cumulative errors. Finally, the effectiveness of the proposed algorithm is demonstrated through numerical simulations, in which FDCKF was compared with the federated cubature Kalman filter (FCKF) and the federated unscented Kalman filter (FUKF), respectively.

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Real-Time Fault-Tolerant Moving Horizon Air Data Estimation for the RECONFIGURE Benchmark

Cited by 22 publications

References 40 publications

Integral Sliding-Mode Observer-Based Disturbance Estimation for Euler–Lagrangian Systems

Integral Sliding-Mode Observer-Based Disturbance Estimation for Euler–Lagrangian Systems

Global output feedback control for nonlinear cascade systems with unknown output functions and unknown control directions

A Federated Derivative Cubature Kalman Filter for IMU-UWB Indoor Positioning

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