A novel functional regression based estimation and control algorithm

2012 ◽  
Author(s):  
Yu Lei ◽  
A. Kurdila
Keyword(s):  
Control Algorithm ◽  
Functional Regression ◽  
Estimation And Control ◽  
And Control

Implementation of State and Disturbance Estimation for Quadrotor Control Using Extended High-Gain Observers

2016 ◽  
Author(s):  
Connor J. Boss ◽  
Joonho Lee ◽  
Charles Carvalho de Aguiar ◽  
Jongeun Choi
Keyword(s):  
Control Algorithm ◽  
High Gain ◽  
Dynamic Inversion ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Disturbance Estimation ◽  
Sample Data ◽  
Estimation And Control ◽  
Control Forces ◽  
And Control

This paper proposes a discrete-time, multi-time-scale estimation and control design for quadrotors in the presence of external disturbances and model uncertainties. Assuming that not all state measurements are available, they will need to be estimated. The sample-data Extended High-Gain Observers are used to estimate unmeasured states, system uncertainties, and external disturbances. Discretized dynamic inversion utilizes those estimates and deals with an uncertain principal inertia matrix. In the plant dynamics, the proposed control forces the rotational dynamics to be faster than the translational dynamics. Numerical simulations and experimental results verify the proposed estimation and control algorithm. All sensing and computation is done on-board the vehicle.

Compensation of Input Disturbance in EPS System Using Sliding Mode Observer

2011 ◽  
Vol 110-116 ◽  
pp. 4992-5000
Author(s):  
Byeongjeom Son ◽  
Gwangmin Park ◽  
Daehyun Kum ◽  
Seonghun Lee
Keyword(s):  
Control Algorithm ◽  
Sliding Mode ◽  
Reaction Force ◽  
Sliding Mode Observer ◽  
Disturbance Compensation ◽  
Electric Power Steering ◽  
Input Disturbance ◽  
Power Steering ◽  
Estimation And Control ◽  
And Control

Electric power steering is developed to reduce effort by providing steering assist to the driver of a vehicle. In recent years, a research regarding returnability is performed in order to improve driver's steering feeling. Returnability is affected to friction force in EPS system and reaction force through tire and rack. Usually in the EPS system, friction and Reaction force are uncertain components which are hard to measure. This paper introduces both estimation using sliding mode observer and control algorithm using input disturbance compensation for returnability of EPS system. And simulation confirms the results of the estimation and control algorithm.

Tracking control problem in multiagent systems with Lipschitz nonlinearities and external disturbances

2018 ◽  
Vol 41 (3) ◽  
pp. 760-767 ◽  
Author(s):  
Ahmadreza Jenabzadeh ◽  
Behrouz Safarinejadian
Keyword(s):  
Control Problem ◽  
Multiagent Systems ◽  
Tracking Control ◽  
Control Algorithm ◽  
Distributed Estimation ◽  
External Disturbances ◽  
Estimation And Control ◽  
The Stability ◽  
And Control ◽  
Disturbance Estimator

This paper investigates the tracking control problem of multiagent systems with Lipschitz nonlinearities and external disturbances that track a target with states that are not available to any of the agents. For this purpose, a distributed estimation and control algorithm (DECA) is firstly designed for each agent to estimate and track the target’s states. Then, the proposed DECA is extended based on a finite time disturbance estimator for tracking control in the presence of external disturbances. The stability analysis of suggested algorithms is also considered. Simulation examples illustrate the promising performance of the proposed algorithms.

Sign in / Sign up

Export Citation Format

Share Document