Switching Wireless Control for Longitudinal Quadrotor Maneuvers

Giannaris, Georgios L.; Kouvakas, Nikolaos D.; Koumboulis, Fotis N.; Vouyioukas, Demosthenes

doi:10.1007/s10846-021-01405-2

Cited by 9 publications

(8 citation statements)

References 36 publications

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“…The above target operating area has several differences as compared to the respective target operating areas, defined in [ 22 , 24 ], for the pure (without observer) control design problem.…”

Section: A Framework For Switching Observer Design Through Parameter ...mentioning

confidence: 99%

“…The results in [ 22 ] have been extended in [ 23 ] to cover the multi-input multi-output (MIMO) case. In [ 24 ], the quite interesting case of two inputs and two outputs (TITO) systems with decoupled linear approximants is studied through a quadrotor application. The stepwise safe switching design for the pure control problem has been studied in several applications (indicatively see [ 22 , 23 , 24 , 25 ]).…”

Section: Introductionmentioning

confidence: 99%

“…In [ 24 ], the quite interesting case of two inputs and two outputs (TITO) systems with decoupled linear approximants is studied through a quadrotor application. The stepwise safe switching design for the pure control problem has been studied in several applications (indicatively see [ 22 , 23 , 24 , 25 ]). The problem of stepwise safe switching observer design has not yet been formulated in its general form and its solution has not yet been derived.…”

Section: Introductionmentioning

confidence: 99%

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Soft Sensor Design via Switching Observers

Koumboulis

Fragkoulis

Kouvakas

et al. 2023

Sensors

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The goal of the paper is the design of soft sensors for single input single output (SISO) nonlinear processes. This goal is of essential importance for process monitoring, fault detection and fault isolation. The observer-based technique, being a fruitful direction in soft sensor design, is followed to develop soft sensors for nonlinear processes with known dynamics and unknown physical parameters. A new and general approach, based on the identified I/O linear approximant system descriptions, around prespecified operating points, and a bank of switching linear observers, will be developed. The system property of the I/O reconstructability of the state space linear approximant of a nonlinear model is presented. The design of each observer is based on the I/O measurements and structural characteristics of the nonlinear process. Observer-oriented target areas are introduced, and the respective dense web principle is formulated. The design is completed by the design of a data-driven rule-based system, providing stepwise switching among the observers of the bank. The number of observers of the bank is equal to the number of the linear approximants of the nonlinear process model and is equal to the number of the respective target operating areas. The target operating areas are required to satisfy the dense web principle. The information provided by the soft sensor is the estimation of the non-measured variables of the process. The information used by the soft sensor is the identified I/O approximants of the process as well as the real time values of the measurement variables. The efficiency of the design scheme is illustrated through symbolic and numerical simulation results for a chemostat. The nonlinear model of the chemostat is initially approximated by a set of ten linear approximants. After, the I/O approximants are identified, the respective observers are designed and the target operating areas are determined, where several cases of the satisfaction of the dense web principle are investigated. The soft sensor is composed in terms of the designed observers. Simulation results illustrate the satisfactory performance of the designed soft sensor.

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Section: A Framework For Switching Observer Design Through Parameter ...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Soft Sensor Design via Switching Observers

Koumboulis

Fragkoulis

Kouvakas

et al. 2023

Sensors

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“…To solve the present optimization problem, the metaheuristic algorithm in [34], being an extension of the algorithm in [12,13], will be used to compute the respective free parameters of the controller. Clearly, the solution derived using the metaheuristic algorithm is suboptimal.…”

Section: An Optimization Criterion For Approximate Command Following ...mentioning

confidence: 99%

“…The degree of improvement will be evaluated through the cost criterion presented in (45). The controller parameters will be determined using the metaheuristic algorithm in [34], being an extension of the algorithm in [12,13]. This way, a suboptimal solution of the parameters will be derived.…”

Section: Optimized Selection Of the Free Controller Parametersmentioning

confidence: 99%

Common Noninteracting Control with Simultaneous Common Partial Zeroing with Application to a Tracked UGV

Koumboulis

Kouvakas

2023

Machines

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In several MIMO system applications, the deviations of some output performance variables from their nominal values are required to be controlled independently, while the other performance variables are required to remain at their nominal value. This problem, named noninteracting control with simultaneous partial output zeroing, is important in the case of the common design of multi-model systems. To this end, the problem of a common noninteracting control with simultaneous common partial output zeroing is formulated. The present paper aims to develop a solution to the problem of multi-model normal linear time-invariant systems via regular and static measurement output feedback. The present approach follows the method developed for the solution of the common I/O decoupling problem. The main results of the paper are the introduction and the formulation of the problem at hand, the establishment of the necessary and sufficient conditions for its solvability, and the derivation of the respective general solution of the controller matrices. For the resulting closed-loop system, the additional design requirement of approximate command following a simultaneous I/O stabilizability is studied using a composite norm 2 type cost function and a metaheuristic algorithm for the derivation of the free parameters of the controller. The present results are illustrated through a numerical example of a nonlinear process with two operating points. Moreover, all the above results are successfully applied to the two-model description of a robot-tracked UGV, using a common controller feeding back measurements of the motor currents and the orientation of the vehicle.

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