Search results for "observer"
showing 10 items of 345 documents
Dynamic Distributed Intrusion Detection for Secure Multi-Robot Systems
2009
A general technique to build a dynamic and distributed intrusion detector for a class of multi–agent systems is proposed in this paper, by which misbehavior in the motion of one or more agents can be discovered. Previous work from the authors has focused on how to distinguish the behavior of a misbehaving agent in a completely distributed way, by developing a solution where agents act as local monitors of their neighbors and use locally sensed information as well as data received from other monitors at a particular time. In this work, we improve the system detection capability by allowing monitors to use information collected at different instants and thus realizing a dynamic state observer…
Integral display for non-static observers
2017
We propose to combine the Kinect and the Integral-Imaging technologies for the implementation of Integral Display. The Kinect device permits the determination, in real time, of (x,y,z) position of the observer relative to the monitor. Due to the active condition of its IR technology, the Kinect provides the observer position even in dark environments. On the other hand, SPOC 2.0 algorithm permits to calculate microimages adapted to the observer 3D position. The smart combination of these two concepts permits the implementation, for the first time we believe, of an Integral Display that provides the observer with color 3D images of real scenes that are viewed with full parallax and which are…
Neural Sensorless Control of Linear Induction Motors by a Full-Order Luenberger Observer Considering the End Effects
2012
This paper proposes a neural based full-order Luenberger adaptive speed observer for sensorless linear induction motor (LIM) drives, where the linear speed is estimated with the total least squares (TLS) EXIN neuron. A novel state space-vector representation of the LIM has been deduced, taking into consideration its dynamic end effects. The state equations of the LIM have been rearranged into a matrix form to be solved, in terms of the LIM linear speed, by any least squares technique. The TLS EXIN neuron has been used to compute online, in recursive form, the machine linear speed. A new gain matrix choice of the Luenberger observer, specifically taking into consideration the LIM dynamic end…
Robust control of stochastic systems against bounded disturbances with application to flight control
2014
This paper investigates the problems of state observer design and observer-based integral sliding-mode control (SMC) for a class of Itô stochastic systems subject to simultaneous input and output disturbances. A new type of sliding-mode-based descriptor observer method is developed to approximate the system state and disturbance vectors. An integral-type SMC scheme is proposed based on the state estimation to stabilize the overall system. The main contributions of this approach are as follows: 1) The desired estimations of state and disturbance vectors can be obtained simultaneously, and 2) in the designed sliding-mode observer, the integral term of the Itô stochastic noise is eliminated …
Velocity sensorless control of a PMSM actuator directly driven an uncertain two-mass system using RKF tuned with an evolutionary algorithm
2010
This paper proposes a solution to tune an observer keeping robust closed loop performances for the sensorless motion control of an uncertain mechanical load directly driven by a PMSM through a flexible axis. An evolutionary algorithm optimizes the observers degrees of freedom. Experiments show that performances are effectively maintained.
MRAS speed observer for high performance linear induction motor drives based on linear neural networks
2011
This paper proposes a Neural Network (NN) MRAS (Model Reference Adaptive System) speed observer suited for linear induction motor (LIM) drives. The voltage and current models of the LIM in the stationary reference frame, taking into consideration the end effects, have been obtained. Then, equations of the induced part have been discretized and rearranged so as to be represented by a linear neural network the TLS EXIN neuron, which has been used to compute the machine linear speed on-line and in recursive form. The proposed NN MRAS observer has been tested experimentally on a suitably developed test setup. Its performance has been also compared to the classic MRAS speed observer.
ROTOR FLUX OPTIMAL ESTIMATION FOR INDUCTION MOTOR CONTROL
2005
Abstract The aim of this paper is to analyze and design reduced order observers of the rotor flux of induction motors. The design requirements are: a) the convergence rate of the rotor flux estimation error; b) a low sensitivity to stator and rotor resistance variations; c) a low sensitivity to errors due to the implementation of the observers on microprocessor-based systems. It is shown that, in order to satisfy the requirements a)-c), it is sufficient to solve a constrained optimization problem according to a criterion in which these requirements appear explicitly. The implementation of the observer is discussed. The observer is tested by simulation and experiments.
Design and Sensitivity Analysis of a Reduced-Order Rotor Flux Optimal Observer for Induction Motor Control
2007
This paper aims to give simple and effective design criteria of rotor flux reduced-order observers for motion control systems with induction motors. While the observer is optimized for rotor and stator resistance variations, a sensitivity analysis is carried out in the presence of variations of all the motor parameters by means of either transfer function from true to observed rotor flux or simulation in a MATLAB-SIMULINK environment, assuming the voltages supplying the motor to be different from those supplying the observer. The sensitivity analysis makes it possible to establish design criteria for the observer in question. The behaviour of the proposed reduced order observer is compared …
A Flux and Speed Observer for Sensorless SPIM Applications
2010
It is usual to find single-phase induction motor (SPIM) in several house, office, shopping, farm, and industry appliances, which is become more sophisticated and requires the development of high performance alternatives to drive a SPIM. All proposed strategies to improve the performance SPIM need the evaluation of the rotational speed or position information. Since the use of conventional sensors to measure the rotational speed cannot be justified for SPIM applications, the adoption of a sensorless strategy is a more reasonable option for these cases. This paper presents a flux and speed observer for sensorless applications involving SPIMs. The performance of the proposed observer is verifi…
Trajectory tracking of underactuated underwater vehicles
2003
This paper deals with a control strategies for underactuated underwater vehicles whose target is the tracking of a space trajectory. A cascade control strategy is employed which brings to a control law consisting of: 1) a kinematic control law, derived from the vehicle kinematic model, which forces this model to track the reference trajectory; and 2) a dynamic control law which forces the system to track the reference signals given by the kinematic control law. Conditions for asymptotic tracking of the trajectory are given with reference to the standard dynamical model of the above vehicle. An observer of the marine current is also added in order to process the control law. Simulation tests…