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This paper focuses on the adaptive observer design for nonlinear discrete‐time MIMO systems with unknown time‐delay and nonlinear dynamics. The delayed states involved in the system are arguments of a nonlinear function and only the estimated delay is utilized. By constructing an appropriate Lyapunov–Krasovskii function, the delay estimation error is considered in the observer parameter design. The proposed method is then extended to the system with a nonlinear output measurement equation and the delayed dynamics. With the help of a high‐order neural network (HONN), the requirement for a precise system model, the linear‐in‐the‐parameters (LIP) assumption of the delayed states, the Lipschitz or norm‐boundedness assumption of unknown nonlinearities are removed. A novel converse Lyapunov technical lemma is also developed and used to prove the uniform ultimate boundedness of the proposed observer. The effectiveness of the proposed results is verified by simulations. Copyright © 2010 John Wiley & Sons, Ltd. 相似文献
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It is well known that a delay‐dependent or delay‐independent truncated predictor feedback law stabilizes a general linear system in the presence of a certain amount of input delay. Results also exist on estimating the maximum delay bound that guarantees stability. In the face of a time‐varying or unknown delay, delay‐independent feedback laws are preferable over delay‐dependent feedback laws as the former provide robustness to the uncertainties in the delay. In the light of few results on the construction of delay‐independent output feedback laws for general linear systems with input delay, we present in this paper a delay‐independent observer–based output feedback law that stabilizes the system. Our design is based on the truncated predictor feedback design. We establish an estimate of the maximum allowable delay bound through the Razumikhin‐type stability analysis. An implication of the delay bound result reveals the capability of the proposed output feedback law in handling an arbitrarily large input delay in linear systems with all open‐loop poles at the origin or in the open left‐half plane. Compared with that of the delay‐dependent output feedback laws in the literature, this same level of stabilization result is not sacrificed by the absence of the prior knowledge of the delay. 相似文献
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We consider the problem of constructing partial state observers for discrete-time linear systems with unknown inputs. Specifically, for any given system, we develop a design procedure that characterizes the set of all linear functionals of the system state that can be reconstructed through a linear observer with a given delay. By treating the delay as a design parameter, we allow greater flexibility in estimating state functionals, and are able to obtain a procedure that directly produces the corresponding observer parameters. Our technique is also applicable to continuous-time systems by replacing delayed outputs with differentiated outputs. 相似文献
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Robust Unknown Input Observer Design for Linear Uncertain Time Delay Systems with Application to Fault Detection
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In this paper, a novel approach is proposed to design a robust fault detection observer for uncertain linear time delay systems. The system is composed of both norm‐bounded uncertainties and exogenous signals (noise, disturbance, and fault) which are considered to be unknown. The main contribution of this paper is to present unknown input observer (UIO)‐based fault detection system which shows the maximum sensitivity to fault signals and the minimum sensitivity to other signals. Since the system contains uncertainty terms, an H∞ model‐matching approach is used in design procedure. The reference residual signal generator system is designed so that the fault signal has maximum sensitivity while the exogenous signals have minimum sensitivity on the residual signal. Then, the fault detection system is designed by minimizing the estimation error between the reference residual signal and the UIO residual signal in the sense of H∞ norm. A sufficient condition for the existence of such a filter is exploited in terms of certain linear matrix inequalities (LMIs). Application of the proposed method in a numerical example and an engineering process are simulated to demonstrate the effectiveness of the proposed algorithm. Simulation results show the validity of the proposed approach to detect the occurrence of faults in the presence of modeling errors, disturbances, and noise. 相似文献
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中立型时滞系统基于状态观测器的控制设计-LMI方法 总被引:1,自引:0,他引:1
研究一类中立型时滞系统基于状态观测器的反馈控制问题。目的是利用线性矩阵不等式(LMI)方法设计状态观测器和动态输出反馈控制器,使得相应的闭环系统渐近稳定。最后给出一个数值例子验证了本文所给结果的有效性。 相似文献
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O. Sename 《Asian journal of control》2007,9(2):180-189
This paper deals with H∞ observer‐based feedback control for linear time‐delay systems, in the framework of delay independent stability. We will propose a new LMI solution to observer‐controller design that ensures a disturbance attenuation level for the controlled output as well as for the state estimation error, which is an open problem. This will be compared with a well‐known solution and with a usual strategy in control which consists in designing the observer and the controller separately. Our aim is to try to bring a positive answer to the following question: is there an interest to solve the problem in a single (unique) formulation or should we design separately the observer and the controller? An application to a wind tunnel model is provided to emphasize the interest of the given results, particularly in comparison with existing results on H∞ observer‐based control. 相似文献
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Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach
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This paper addresses the output feedback tracking control of a class of multiple‐input and multiple‐output nonlinear systems subject to time‐varying input delay and additive bounded disturbances. Based on the backstepping design approach, an output feedback robust controller is proposed by integrating an extended state observer and a novel robust controller, which uses a desired trajectory‐based feedforward term to achieve an improved model compensation and a robust delay compensation feedback term based on the finite integral of the past control values to compensate for the time‐varying input delay. The extended state observer can simultaneously estimate the unmeasurable system states and the additive disturbances only with the output measurement and delayed control input. The proposed controller theoretically guarantees prescribed transient performance and steady‐state tracking accuracy in spite of the presence of time‐varying input delay and additive bounded disturbances based on Lyapunov stability analysis by using a Lyapunov‐Krasovskii functional. A specific study on a 2‐link robot manipulator is performed; based on the system model and the proposed design procedure, a suitable controller is developed, and comparative simulation results are obtained to demonstrate the effectiveness of the developed control scheme. 相似文献
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A control design method based on a linear state function observer is proposed. The method is a semi-inverse design procedure in that the control law is not designed before the observer system, but is a result of the observer design. However, the observer design is not completely independent of the control design, but seeks to yield a feedback signal that is close to a prescribed control law. First, the observer design problem is considered as the reconstruction of a linear function of the state vector. The linear state function to be reconstructed is the given control law. Then, based on the derivation for linear state function observers, the observer design is formulated as a parameter optimization problem. The optimization objective is to generate a matrix that is close to the given feedback gain matrix. Based on that matrix, the form of the observer and a new control law can be determined. The semi-inverse design procedure can yield a reduced-order observer with dimension considerably smaller than that of the system. Two numerical examples are used to demonstrate the proposed design procedure. 相似文献
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