Distributed dissipative filtering for flexible manipulator with randomly occurring uncertainties and missing data

2019 ◽  
Vol 40 (2) ◽  
pp. 257-263
Author(s):  
Xiaodong Zhang ◽  
Tao Xiao
Keyword(s):  
Missing Data ◽  
Filter Design ◽  
External Disturbance ◽  
Flexible Manipulator ◽  
Content Type ◽  
Randomly Occurring Uncertainties ◽  
Dissipative Filtering ◽  
Distributed Filter ◽  
Filtering Problem ◽  
Filtering Procedure

Purpose The purpose of this paper is to investigate the dissipative filtering problem for a flexible manipulator (FM) with randomly occurring uncertainties and randomly occurring missing data. Design/methodology/approach The randomly occurring phenomena during the filtering procedure are described by Bernoulli sequences. Based on the idea of dissipative theory, the distributed filtering error augmented system is derived for ensuring the prescribed dissipative performance. Findings By constructing appropriate Lyapunov function, sufficient dissipative filtering conditions are derived such that the filtering error can be approaching zero. Then, the desired distributed filter gains are designed with the help of matrix transformation. Originality/value The merit of this paper is proposing a novel distributed filtering framework for an FM with external disturbance under the dissipative framework, which can provide a more applicable filter design.

scholarly journals Distributed Mode-Dependent Event-Triggered Passive Filtering for Flexible Manipulator with Semi-Markov Parameters

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2058
Author(s):  
Yidao Ji ◽  
Suiwu Zheng
Keyword(s):  
Sensor Networks ◽  
Sufficient Conditions ◽  
Robotic Manipulator ◽  
Flexible Manipulator ◽  
System Perspective ◽  
Event Triggering ◽  
Single Link ◽  
Flexible Robotic Manipulator ◽  
Distributed Filter ◽  
Filtering Problem

In this paper, the passive filtering problem of flexible robotic manipulator is investigated over sensor networks in a distributed manner from the control system perspective. The sensor networks are adopted to estimate true states of flexible robotic manipulator. In particular, the semi-Markov model is utilized for flexible manipulators with varying loads in unstructured environment, which is more flexible for practical implementations. Moreover, the new mode-dependent event-triggering mechanism is developed for distributed filter communications. Based on model transformation, sufficient conditions are first established to guarantee prescribed passive performance under disturbances. Then, desired mode-dependent filters are developed with the aid of convex optimization. In the end, several simulations results of a single-link flexible robotic manipulator are provided to verify the usefulness of the developed filtering algorithm.

scholarly journals Event-Triggered Dissipative Filter Design for Semi-Markovian Jump Systems with Time-Varying Delays

2020 ◽  
Vol 2020 ◽  
pp. 1-13 ◽  
Author(s):  
Huiying Chen ◽  
Zuxin Li ◽  
Weifeng Xia
Keyword(s):  
Filter Design ◽  
Markovian Jump Systems ◽  
Time Varying ◽  
Markovian Jump ◽  
Stochastically Stable ◽  
Error System ◽  
Jump Systems ◽  
Dissipative Filtering ◽  
Filtering Problem ◽  
Event Triggered

This paper deals with the event-triggered dissipative filtering problem for semi-Markovian jump systems with time-varying delays. The purpose is to design a filter which guarantees that the filtering error system is not only stochastically stable but also satisfies dissipativity. First, based on Lyapunov–Krasovskii theory and matrix integral inequality, a sufficient condition is established for the existence of such a filter. Then, the codesign method of event-triggered matrices and the desired filter parameters is proposed. Finally, two numerical examples are given to illustrate the advantages and validity of the scheme developed in this paper.

Visual servoing of dynamic wheeled mobile robots with anti-interference finite-time controllers

2018 ◽  
Vol 38 (5) ◽  
pp. 558-567 ◽  
Author(s):  
Hua Chen ◽  
Lei Chen ◽  
Qian Zhang ◽  
Fei Tong
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Visual Servoing ◽  
Control Method ◽  
External Disturbance ◽  
Nonholonomic Systems ◽  
Stability Control ◽  
Interference Control ◽  
Wheeled Mobile Robots ◽  
Content Type

Purpose The finite-time visual servoing control problem is considered for dynamic wheeled mobile robots (WMRs) with unknown control direction and external disturbance. Design/methodology/approach By using finite-time control method and switching design technique. Findings First, the visual servoing kinematic WMR model is developed, which can be converted to the dynamic chained-form systems by using a state and input feedback transformation. Then, for two decoupled subsystems of the chained-form systems, according to the finite-time stability control theory, a discontinuous three-step switching control strategy is proposed in the presence of uncertain control coefficients and external disturbance. Originality/value A class of discontinuous anti-interference control method has been presented for the dynamic nonholonomic systems.

Adaptive neural-based finite-time attitude synchronization and tracking control of multiple rigid bodies under actuator faults and saturation

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Amin Mihankhah ◽  
Ali Doustmohammadi
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Estimation Error ◽  
External Disturbance ◽  
Upper Bounds ◽  
Rigid Bodies ◽  
Sliding Surface ◽  
Actuator Faults ◽  
Content Type ◽  
Attitude Synchronization

Purpose The purpose of this paper, is to solve the problem of finite-time fault-tolerant attitude synchronization and tracking control of multiple rigid bodies in presence of model uncertainty, external disturbances, actuator faults and saturation. It is assumed that the rigid bodies in the formation may encounter loss of effectiveness and/or bias actuator faults. Design/methodology/approach For the purpose, adaptive terminal sliding mode control and neural network structure are used, and a new sliding surface is proposed to guarantee known finite-time convergence not only at the reaching phase but also on the sliding surface. The sliding surface is then modified using a proposed auxiliary system to maintain stability under actuator saturation. Findings Assuming that the communication topology between the rigid bodies is governed by an undirected connected graph and the upper bounds on the actuators’ faults, estimation error of model uncertainty and external disturbance are unknown, not only the attitudes of the rigid bodies in the formation are synchronized but also they track the time-varying attitude of a virtual leader. Using Lyapunov stability approach, finite-time stability of the proposed control algorithms demonstrated on the sliding phase as well as the reaching phase. The effectiveness of the proposed algorithm is also validated by simulation. Originality/value The proposed controller has the advantage that the need for any fault detection and diagnosis mechanism and the upper bounds information on estimation error and external disturbance is eliminated.

Stability control for end effect of mobile manipulator in uneven terrain based on active disturbance rejection control

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Chuang Cheng ◽  
Hui Zhang ◽  
Hui Peng ◽  
Zhiqian Zhou ◽  
Bailiang Chen ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
External Disturbance ◽  
Stability Control ◽  
Mobile Manipulator ◽  
Active Disturbance Rejection Control ◽  
End Effector ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Purpose When the mobile manipulator is traveling on an unconstructed terrain, the external disturbance is generated. The load on the end of the mobile manipulator will be affected strictly by the disturbance. The purpose of this paper is to reject the disturbance and keep the end effector in a stable pose all the time, a control method is proposed for the onboard manipulator. Design/methodology/approach In this paper, the kinematics and dynamics models of the end pose stability control system for the tracked robot are built. Through the guidance of this model information, the control framework based on active disturbance rejection control (ADRC) is designed, which keeps the attitude of the end of the manipulator stable in the pitch, roll and yaw direction. Meanwhile, the control algorithm is operated with cloud computing because the research object, the rescue robot, aims to be lightweight and execute work with remote manipulation. Findings The challenging simulation experiments demonstrate that the methodology can achieve valid stability control performance in the challenging terrain road in terms of robustness and real-time. Originality/value This research facilitates the stable posture control of the end-effector of the mobile manipulator and maintains it in a suitable stable operating environment. The entire system can normally work even in dynamic disturbance scenarios and uncertain nonlinear modeling. Furthermore, an example is given to guide the parameter tuning of ADRC by using model information and estimate the unknown internal modeling uncertainty, which is difficult to be modeled or identified.

Compact dual-mode microstrip bandpass filter based on slotted square patch resonator

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Karthie S. ◽  
Zuvairiya Parveen J. ◽  
Yogeshwari D. ◽  
Venkadeshwari E.
Keyword(s):  
Bandpass Filter ◽  
Filter Design ◽  
Center Frequency ◽  
Dual Mode ◽  
Content Type ◽  
Transmission Zeros ◽  
Compact Size ◽  
Mode Response ◽  
Better Than ◽  
Good Agreement

Purpose The purpose of this paper is to present the design of a compact microstrip bandpass filter (BPF) in dual-mode configuration loaded with cross-loop and square ring slots on a square patch resonator for C-band applications. Design/methodology/approach In the proposed design, the dual-mode response for the filter is realized with two transmission zeros (TZs) by the insertion of a perturbation element at the diagonal corner of the square patch resonator with orthogonal feed lines. Such TZs at the edges of the passband result in better selectivity for the proposed BPF. Moreover, the cross-loop and square ring slots are etched on a square patch resonator to obtain a miniaturized BPF. Findings The proposed dual-mode microstrip filter fabricated in RT/duroid 6010 substrate using PCB technology has a measured minimum insertion loss of 1.8 dB and return loss better than 24.5 dB with a fractional bandwidth (FBW) of 6.9%. A compact size of 7.35 × 7.35 mm2 is achieved for the slotted patch resonator-based dual-mode BPF at the center frequency of 4.76 GHz. As compared with the conventional square patch resonator, a size reduction of 61% is achieved with the proposed slotted design. The feasibility of the filter design is confirmed by the good agreement between the measured and simulated responses. The performance of the proposed filter structure is compared with other dual-mode filter works. Originality/value In the proposed work, a compact dual-mode BPF is reported with slotted structures. The conventional square patch resonator is deployed with cross-loop and square ring slots to design a dual-mode filter with a square perturbation element at its diagonal corner. The proposed filter exhibits compact size and favorable performance compared to other dual-mode filter works reported in literature. The aforementioned design of the dual-mode BPF at 4.76 GHz is suitable for applications in the lower part of the C-band.

A new imputation-based incomplete data-driven fuzzy modeling for accuracy improvement in ubiquitous computing applications

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Sonia Goel ◽  
Meena Tushir
Keyword(s):  
Parameter Estimation ◽  
Missing Data ◽  
Incomplete Data ◽  
Model Identification ◽  
Fuzzy Model ◽  
New Method ◽  
Content Type ◽  
Ubiquitous Environment ◽  
Sugeno Model ◽  
Takagi Sugeno

Purpose In real-world decision-making, high accuracy data analysis is essential in a ubiquitous environment. However, we encounter missing data while collecting user-related data information because of various privacy concerns on account of a user. This paper aims to deal with incomplete data for fuzzy model identification, a new method of parameter estimation of a Takagi–Sugeno model in the presence of missing features. Design/methodology/approach In this work, authors proposed a three-fold approach for fuzzy model identification in which imputation-based linear interpolation technique is used to estimate missing features of the data, and then fuzzy c-means clustering is used for determining optimal number of rules and for the determination of parameters of membership functions of the fuzzy model. Finally, the optimization of the all antecedent and consequent parameters along with the width of the antecedent (Gaussian) membership function is done by gradient descent algorithm based on the minimization of root mean square error. Findings The proposed method is tested on two well-known simulation examples as well as on a real data set, and the performance is compared with some traditional methods. The result analysis and statistical analysis show that the proposed model has achieved a considerable improvement in accuracy in the presence of varying degree of data incompleteness. Originality/value The proposed method works well for fuzzy model identification method, a new method of parameter estimation of a Takagi–Sugeno model in the presence of missing features with varying degree of missing data as compared to some well-known methods.

Optimized DA-reconfigurable FIR filters for software defined radio channelizer applications

Circuit World ◽  
2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
C. Srinivasa Murthy ◽  
K. Sridevi
Keyword(s):  
Energy Efficiency ◽  
Power Dissipation ◽  
Software Defined Radio ◽  
Filter Design ◽  
Finite Impulse Response ◽  
Software Tool ◽  
Building Blocks ◽  
Fir Filter ◽  
Content Type ◽  
Filter Length

Purpose In this paper, the authors present different methods for reconfigurable finite impulse response (RFIR) filter design. Distributed arithmetic (DA)-based reconfigurable FIR filter design is suitable for software-defined radio (SDR) applications. The main contribution of reconfiguration is reuse of registers, multipliers, adders and to optimize various parameters such as area, power dissipation, speed, throughput, latency and hardware utilizations of flip-flops and slices. Therefore, effective design of building blocks will be optimized for RFIR filter with all the above parameters. Design/methodology/approach The modified, direct form register structure of FIR filter contributes the reuse concept and allows utilization of less number of registers and parallel computation operations. The disadvantage of DA and other conventional methods is delay increases proportionally with filter length. This is due to different partial products generated by adders. The usage of adder and multipliers in DA-FIR filter restricts the area and power dissipation because of their complexity of generation of sum and carry bits. The hardware implementation time of an adder can be reduced by parallel prefix adder (PPA) usage based on Ling equation. PPA uses shift-add multiplication, which is a repetitive process of addition, and this process is known as Bypass Zero feed multiplicand in direct multiplication, and the proposed technique optimizes area-power product efficiently. The modified DA (MDA)-based RFIR filter is designed for 64 taps filter length (N). The design is developed by using Verilog hardware description language and implemented on field-programmable gate array. Also, this design validates SDR channel equalizer. Findings Both RFIR and SDR are integrated as single system and implemented on Artix-7 development board of XC7A100tCSG324 and exploited the advantages in area-delay, power-speed products and energy efficiency. The theoretical and practical comparisons have been carried out, and the results are compared with existing DA-RFIR designs in terms of throughput, latency, area-delay, power-speed products and energy efficiency, which are improved by 14.5%, 23%, 6.5%, 34.2% and 21%, respectively. Originality/value The DA-based RFIR filter is validated using Chipscope Pro software tool on Artix-7 FPGA in Xilinx ISE design suite and compared constraint parameters with existing state-of-art results. It is also tested the filtering operation by applying the RFIR filter on Audio signals for removal of noisy signals and it is found that 95% of noise signals are filtered effectively.

Design of H_/H∞ fault detection observer for closed-loop nonlinear system with disturbance

2020 ◽  
Vol 40 (4) ◽  
pp. 589-599
Author(s):  
Zhengquan Chen ◽  
Lu Han ◽  
Yandong Hou
Keyword(s):  
Fault Detection ◽  
Closed Loop ◽  
External Disturbance ◽  
Adaptive Threshold ◽  
Linear Matrix ◽  
Content Type ◽  
Non Linear ◽  
Runge Kutta ◽  
Non Linear System ◽  
Residual Generator

Purpose This paper proposes a novel method of fault detection, which is based on H_/H∞ Runge–Kutta observer and an adaptive threshold for a class of closed-loop non-linear systems. The purpose of this paper is to improve the rapidity and accuracy of fault detection. Design/methodology/approach First, the authors design the H_/H∞ Runge–Kutta fault detection observer, which is used as a residual generator to decouple the residual from the input. The H_ performance index metric in the specified frequency domain is used to describe how sensitive the residual to the fault. The H∞ norm is used to describe the residual robustness to the external disturbance of the systems. The residual generator is designed to achieve the best tradeoff between robustness against unknown disturbances but sensitivity to faults, thus realizing the accurate detection of the fault by suppressing the influence of noise and disturbance on the residual. Next, the design of the H_/H∞ fault detection observer is transformed into a convex optimization problem and solved by linear matrix inequality. Then, a new adaptive threshold is designed to improve the accuracy of fault detection. Findings The effectiveness and correctness of the method are tested in simulation experiments. Originality/value This paper presents a novel approach to improve the accuracy and rapidity of fault detection for closed-loop non-linear system with disturbances and noise.

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