scholarly journals FRIT Based Simultaneous Update of Controller and Model for Integral Type Servo Systems with Full State Observers

2014 ◽  
Vol 27 (3) ◽  
pp. 122-131
Author(s):  
Osamu Kaneko ◽  
Tsuyoshi Miyajima ◽  
Shigeru Yamamoto
Keyword(s):  
Integral Type ◽  
Servo Systems ◽  
State Observers ◽  
Full State

Distributed Full-State Observers With Limited Communication and Application to Cooperative Target Localization

2014 ◽  
Vol 136 (3) ◽  
Author(s):  
Davide Spinello ◽  
Daniel J. Stilwell
Keyword(s):  
Data Fusion ◽  
Motion Control ◽  
Distributed Data ◽  
State Estimator ◽  
Agent Based ◽  
State Observers ◽  
State Estimators ◽  
Full State ◽  
Gradient Based ◽  
Network Topologies

We present a fully decentralized motion control algorithm for the coordination of platoons of mobile agents with highly restricted communication capabilities. In order to address very low bandwidth communication between agents and time varying communication network topologies, we utilize a distributed full-state observer onboard each agent. Agent motion and data fusion algorithms are implemented locally by each agent based on the state of the local full-state estimator. Although no separation principle exists between decentralized agent motion control and distributed data fusion in general, we introduce a gradient-based framework in which simultaneously we achieve asymptotic agreement among full-state estimators and convergence of desired agent motion.

scholarly journals Robust Output Control of an Uncertain Underactuated 2DOF Mass-Spring-Damper System with Backlash Based on Active Disturbance Rejection Control Structure

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
C. Mario Mora ◽  
A. David Rosas ◽  
C. Raul Rascon ◽  
G. Ricardo Cuesta
Keyword(s):  
State Vector ◽  
Control Structure ◽  
Reference Signal ◽  
Control Input ◽  
State Variables ◽  
State Observers ◽  
Disturbance Rejection Control ◽  
Full State ◽  
Two Stages ◽  
Mass Spring

We propose a strategy to solve the tracking and regulation problem for a 2DOF underactuated mass-spring-damper system with backlash on the underactuated joint, parametric uncertainties, and partial measurement of the state vector. The design of the controller is divided into two stages; in the first stage, it is assumed that the full state vector and all perturbations in the system are available. The model is divided into one actuated subsystem and one underactuated subsystem. The position of the actuated mass is defined as the control input of the underactuated subsystem, which is designed as an ideal controller that solves the tracking and regulation control problems for the underactuated mass. Finally, the control input of the actuated subsystem is designed to solve the tracking problem considering as a reference signal the control signal of the underactuated subsystem. The second stage solves the problem of the implementation of the previously designed ideal controller using the active disturbances rejection control structure (ADRC). Here state observers estimate the nonmeasured state variables and, at the same time, estimate perturbations and auxiliary signals for their compensation. The performance of the closed-loop system is illustrated by numerical simulations and experimental results.

Sign in / Sign up

Export Citation Format

Share Document