Development of generic dynamic nonlinear model for autonomous hybrid system and design of inverse dynamics controller and derivative free state estimator in presence of uncertainties

Experimental Investigations on Performance Comparison of EKF and ANN Based Controllers with UKF Based Controller for Autonomous Hybrid Systems with Uncertainties

“…The system is modeled as hybrid system, specifically AHS, as in [9] because of the interaction between continuous and discrete state variables. The flow through the middle inter connecting pipes can be better modeled with the help of discrete variables, z 1 and z 2 (defined in (11) and (12)).…”

“…Out of different state estimation schemes, UKF based scheme is the mostly suggested technique for hybrid systems as it is suitable for highly nonlinear systems [8,9,[20][21][22]. The nonlinear and derivative free nature [21] of this algorithm makes the efficient state estimation of highly complex and nonlinear systems like hybrid systems possible.…”

“…A hybrid threetank system was used as the benchmark example in many of the works [4][5][6][7] for demonstrating different modeling, estimation and control algorithms for hybrid systems and to a class of its subsystem like AHS. In this direction, experimental validation reported in [8] and [9] for the state estimation and the control of hybrid systems, has significance.…”

“…Finding optimum and robust state estimation schemes, and hence utilization of such estimators in many advanced control schemes, like model predictive control and fault tolerant control, are the issues addressed recently in AHS [6][7][8][9][10][11]. Most of such works [6, 7, 8, and 9] utilizes Unscented Kalman Filter (UKF) algorithm for estimating the states of hybrid systems.…”

“…The paper is giving the brief description of the benchmark hybrid three-tank system in section 2 along with the generic model developed in [9]. EKF [13], UKF [12] and author's ANN based state estimation algorithms [23] are briefly reviewed in section 3.…”