Search results for "observer"

Analysis of Linear Feedback Position Control in Presence of Presliding Friction

2016

Improved Active Disturbance Rejection Control for Trajectory Tracking Control of Lower Limb Robotic Rehabilitation Exoskeleton.

2020

Neurological disorders such as cerebral paralysis, spinal cord injuries[acronym](SCI), and strokes, result in the impairment of motor control and induce functional difficulties to human beings like walking, standing, etc. Physical injuries due to accidents and muscular weaknesses caused by aging [english]affectsaffect people and can cause them to lose their ability to perform daily routine functions. In order to help people recover or improve their dysfunctional activities and quality of life after accidents or strokes, assistive devices like exoskeletons and orthoses are developed. Control strategies for control of exoskeletons are developed with the desired intention of improving the qual…

Estimation of Sway-angle Based on Hybrid State Observer Using Continuous and Discrete Sensing

2019

A hybrid state observer design is presented herein to estimate sway-angle and angular velocity in trolley systems with pendulum. In general, anti-sway control for trolley systems with pendulum such as overhead cranes are designed based on sway-angle signals detected by angular sensors. Opposed to that, a state observer without those sensors is proposed to estimate the sway-angle of the pendulum. A standard linear continuous feedback observer causes estimation error owing to the system nonlinearity and modeling error. This paper proposes a hybrid state observer incorporating discrete sensor signals. In the hybrid state observer, the estimation performance is improved by correcting the state …

State Observer with Round-Robin Aperiodic Sampled Measurements with Jitter

2021

International audience; A sampled-data observer is proposed for linear continuous-time systems whose outputs are sequentially sampled via non-uniform sampling intervals repeating a prescribed Round-Robin sequence. With constant sampling intervals (jitter-free case) we provide constructive necessary and sufficient conditions for the design of an asymptotic continuous-discrete observer whose estimation error is input-to-state stable (ISS) from process disturbances and measurement noise. We use a time-varying gain depending on the elapsed time since the last measurement. With non-constant sampling intervals (jitter-tolerant case), our design conditions are only sufficient. A suspension system …

Sensorless Speed Control for Double-Sided Linear Induction Motor Applications

2019

In this work, a flux and speed observer for double-sided linear induction motor applications is presented and experimentally validated. More in detail, from a Double-Sided Linear Induction Motor (DLIM) prototype, the complete modelling and the determination of the related parameters are here reported. Furthermore, the equations for a d-flux and q-flux observer are conceived and several simulation tests are performed. From the good agreements between the trends over time of the speed estimated by the observer and the simulated one, it can be stated that the observer is well designed. Moreover, in order to experimentally validate the proposed observer, a test bench is set-up for the DLIM/obse…

A Hybrid Control Strategy for Quadratic Boost Converters with Inductor Currents Estimation

2020

International audience; This paper deals with a control strategy for a DC-DC quadratic boost converter. In particular, a hybrid control scheme is proposed to encompass a control law and an observer for the estimation of the system states, based only on the measurements of the input and output voltages. Differently from classical control methods, where the controller is designed from a small-signal model, here the real model of the system is examined without considering the average values of the discrete variables. Using hybrid dynamical system theory, asymptotic stability of a neighborhood of the equilibrium point is established, ensuring practical stability of the origin, which contains es…

A time-varying observer for linear systems with asynchronous discrete-time measurements

2017

International audience; In this paper we propose a time-varying observer for a linear continuous-time plant with asynchronous discrete-time measurements. The proposed observer is contextualized in the hybrid systems framework providing an elegant setting for the proposed solution. In particular some theoretical tools are provided, in terms of LMIs, certifying asymptotic stability of a certain compact set where the estimation error is zero. Moreover the case of asynchronous measurements is considered, i.e. when the measurements are not provided in well defined time instants, but they occur at an arbitrary time in a certain time interval. A design procedure based on the numerical solution of …

A multicentric study to evaluate the use of relative retention times in targeted proteomics.

2016

Despite the maturity reached by targeted proteomic strategies, reliable and standardized protocols are urgently needed to enhance reproducibility among different laboratories and analytical platforms, facilitating a more widespread use in biomedical research. To achieve this goal, the use of dimensionless relative retention times (iRT), defined on the basis of peptide standard retention times (RT), has lately emerged as a powerful tool. The robustness, reproducibility and utility of this strategy were examined for the first time in a multicentric setting, involving 28 laboratories that included 24 of the Spanish network of proteomics laboratories (ProteoRed-ISCIII). According to the results…

Traffic Flow Variables Estimation: An Automated Procedure Based on Moving Observer Method. Potential Application for Autonomous Vehicles

2019

Abstract The estimation of traffic flow variables (flow, space mean speed and density) plays a fundamental role in highways planning and designing, as well as in traffic control strategies. Moving Observer Method (MOM) allows traffic surveys in a road, or in a road network. This paper proposes a novel automated procedure, called MOM-AP based on Moving Observer Method and Digital Image Processing (DIP) Technique able to automatically detect (without human observers) and calculate flow q, space mean speed vs and density k in case of stationary and homogeneous traffic conditions. In order to evaluate how reliable is the MOM-AP, an experiment has been carried out in a segment of one two-lane si…

Development and validation of the SIMPLE endoscopic classification of diminutive and small colorectal polyps

2018

Abstract Background Prediction of histology of small polyps facilitates colonoscopic treatment. The aims of this study were: 1) to develop a simplified polyp classification, 2) to evaluate its performance in predicting polyp histology, and 3) to evaluate the reproducibility of the classification by trainees using multiplatform endoscopic systems. Methods In phase 1, a new simplified endoscopic classification for polyps – Simplified Identification Method for Polyp Labeling during Endoscopy (SIMPLE) – was created, using the new I-SCAN OE system (Pentax, Tokyo, Japan), by eight international experts. In phase 2, the accuracy, level of confidence, and interobserver agreement to predict polyp hi…