LMI-Based Luenberger Observer Design for Uncertain Nonlinear Systems With External Disturbances and Time-Delays

Karami, Hamede; Nguyen, Ngoc Phi; Ghadiri, Hamid; Mobayen, Saleh; Bayat, Farhad; Skruch, Paweł; Mostafavi, Fatemeh

doi:10.1109/access.2023.3293493

Cited by 3 publications

(1 citation statement)

References 51 publications

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“…Although several papers have been published that tackle the design of controllers and observers separately, little attention has been paid to a joint design if the modeled systems are nonlinear or depend on uncertain parameters. To the best of the authors' knowledge, an example of such kind of research can be found in [22] where the authors have considered time delays and input disturbances in their design phase. In [23,24], the authors have exploited the LMI framework in order to simultaneously design a controller and observer that guarantee stability and robust performance despite the occurrence of actuator faults, model uncertainty, nonlinearities, and measurement noise and that only require the tuning of two parameters.…”

Section: Introductionmentioning

confidence: 99%

Combined Observer-Based State Feedback and Optimized P/PI Control for a Robust Operation of Quadrotors

Benzinane,

Rauh

2024

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This paper deals with a discrete-time observer-based state feedback control design by taking into consideration bounded parameter uncertainty, actuator faults, and stochastic noise in an inner control loop which is extended in a cascaded manner by outer PI- and P-control loops for velocity and position regulation. The aim of the corresponding subdivision of the quadrotor model is the treatment of the control design in a systematic manner. In the inner loop, linear matrix inequality techniques are employed for the placement of poles into a desired area within the complex z-plane. A robustification of the design towards noise is achieved by optimizing both control and observer gains simultaneously guaranteeing stability in a predefined bounded state domain. This procedure helps to reduce the sensitivity of the inner control loop towards changes induced by the outer one. Finally, a model-based optimization process is employed to tune the parameters of the outer P/PI controllers. To allow for the validation of accurate trajectory tracking, a comparison of the novel approach with the use of a standard extended Kalman filter-based linear-quadratic regulator synthesis is presented to demonstrate the superiority of the new design.

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Section: Introductionmentioning

confidence: 99%

Combined Observer-Based State Feedback and Optimized P/PI Control for a Robust Operation of Quadrotors

Benzinane,

Rauh

2024

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A multilayer neural‐network‐based fault estimation and fault tolerant control scheme for uncertain system

Akhtar,

Naqvi,

Hamayun

et al. 2024

Intl J Robust & Nonlinear

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This work introduces a new actuator fault estimation approach coupled with a fault‐tolerant control (FTC) strategy for uncertain systems in an output feedback framework. The proposed method involves constructing a Multi‐Layer Neural Network (MLNN) observer‐based fault estimation unit to accurately predict system states and potential faults in the actuator channel. An online control allocation (CA) scheme is then developed, utilizing the derived estimates to actively reconfigure the virtual control signals among the healthy redundant actuators in the event of actuator malfunction. Furthermore, an adaptive neural network‐based output integral sliding mode control scheme is designed based on the virtual control. This integration enhances the overall system's robustness and significantly reduces the chattering effect. The stability analysis of the proposed fault estimations scheme is initially performed using MLNN structure, followed by a comprehensive closed‐loop stability analysis to establish the stability of the entire system. Finally, the effectiveness of the proposed method is validated on a nonlinear six‐degree‐of‐freedom model of multirotor unmanned aerial vehicle aircraft. Numerical simulations under different fault and failure scenarios validate the efficacy of the proposed method. The comparative analysis of the proposed scheme is conducted with the static output feedback control allocations and adaptive allocation strategy. This analysis focuses on evaluating performance using metrics such as root mean square error and mean square deviation, particularly in the presence of faults and failures. The results demonstrate the superior performance of the proposed scheme in fault/failure conditions.

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Mode-dependent observer-based secured hybrid-driven reliable control for semi-Markov jump cyber–physical systems with DoS attacks

Panneerselvam,

Aravinth,

Sakthivel

et al. 2024

Chaos, Solitons & Fractals

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LMI-Based Luenberger Observer Design for Uncertain Nonlinear Systems With External Disturbances and Time-Delays

Cited by 3 publications

References 51 publications

Combined Observer-Based State Feedback and Optimized P/PI Control for a Robust Operation of Quadrotors

Combined Observer-Based State Feedback and Optimized P/PI Control for a Robust Operation of Quadrotors

A multilayer neural‐network‐based fault estimation and fault tolerant control scheme for uncertain system

Mode-dependent observer-based secured hybrid-driven reliable control for semi-Markov jump cyber–physical systems with DoS attacks

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