State Controller and State Observer

1989 ◽  
pp. 180-227 ◽  
Author(s):  
Rolf Isermann
Keyword(s):  
State Observer ◽  
State Controller

Fuzzy adaptive Kalman filter for the drive system with an elastic coupling

2013 ◽  
Vol 62 (2) ◽  
pp. 251-265 ◽  
Author(s):  
Piotr J. Serkies ◽  
Krzysztof Szabat
Keyword(s):  
Kalman Filter ◽  
Control Structure ◽  
Experimental Tests ◽  
Drive System ◽  
Adaptive Kalman Filter ◽  
State Matrix ◽  
State Controller ◽  
Kalman Gain ◽  
Robust Adaptive ◽  
Fuzzy Adaptive

Abstract In the paper issues related to the design of a robust adaptive fuzzy estimator for a drive system with a flexible joint is presented. The proposed estimator ensures variable Kalman gain (based on the Mahalanobis distance) as well as the estimation of the system parameters (based on the fuzzy system). The obtained value of the time constant of the load machine is used to change the values in the system state matrix and to retune the parameters of the state controller. The proposed control structure (fuzzy Kalman filter and adaptive state controller) is investigated in simulation and experimental tests.

scholarly journals Fault-tolerant control for a class of n-order systems based on fast terminal sliding mode and extended state observer

2021 ◽  
pp. 002029402110286
Author(s):  
Pu Yang ◽  
Peng Liu ◽  
ChenWan Wen ◽  
Huilin Geng
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Singular Control ◽  
Fault Tolerant Control ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode ◽  
Terminal Sliding Surface

This paper focuses on fast terminal sliding mode fault-tolerant control for a class of n-order nonlinear systems. Firstly, when the actuator fault occurs, the extended state observer (ESO) is used to estimate the lumped uncertainty and its derivative of the system, so that the fault boundary is not needed to know. The convergence of ESO is proved theoretically. Secondly, a new type of fast terminal sliding surface is designed to achieve global fast convergence, non-singular control law and chattering reduction, and the Lyapunov stability criterion is used to prove that the system states converge to the origin of the sliding mode surface in finite time, which ensures the stability of the closed-loop system. Finally, the effectiveness and superiority of the proposed algorithm are verified by two simulation experiments of different order systems.

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