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Perfect observer resistant to the changes of dynamics of the standard linear system

Sławiński M. A.

Bulletin of the Polish Academy of Sciences. Technical Sciences

2017

Vol. 65, nr 3

313--316

The article presents a class of perfect observers for standard continuous-time linear systems. Observers are resistant to significant changes in the dynamics of the system. The value of poles of the system can be unlimited as long as their number does not change and the conditions presented in this article are satisfied. There are presented numerical examples and simulations results.

Robust observer design for Sugeno systems with incremental quadratic nonlinearity in the consequent

Moodi H., Farrokhi M.

International Journal of Applied Mathematics and Computer Science

2013

Vol. 23, no. 4

711--723

This paper is concerned with observer design for nonlinear systems that are modeled by T–S fuzzy systems containing parametric and nonparametric uncertainties. Unlike most Sugeno models, the proposed method contains nonlinear functions in the consequent part of the fuzzy IF-THEN rules. This will allow modeling a wider class of systems with smaller modelling errors. The consequent part of each rule contains a linear part plus a nonlinear term, which has an incremental quadratic constraint. This constraint relaxes the conservativeness introduced by other regular constraints for nonlinearities such as the Lipschitz conditions. To further reduce the conservativeness, a nonlinear injection term is added to the observer dynamics. Simulation examples show the effectiveness of the proposed method compared with the existing techniques reported in well-established journals.

Design of a novel control algorithm for a 6 D.O.F. mobile manipulator based on a robust observer

Bolandi H., Ehyaei A. F., Esmaeilzadeh A. M.

Control and Cybernetics

2005

Vol. 34, no 4

1057-1074

In this paper a control algorithm based on a design technique named "Robust Damping Control" is introduced. A robust observer is further shown to overcome the problem of using velocity sensors that may degrade the system performance. The proposed controller uses only position measurements and is capable of disturbance rejection in the presence of unknown bounded disturbances without requiring the knowledge of its bound. Moreover, we propose an accurate and fast time integration method to solve the dynamic equations of the mobile manipulator system. The simulation results of a 6 D.O.F. mobile manipulator illustrate the effectiveness of the presented algorithm.