Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
Results
Showing 1 to 20 of 25 for “"observer design"”.
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Observability and observer design for switched linear systems
… perturbations to system matrices that causes observer infeasibility (with respect to the Frobenius norm). This robustness framework is sufficiently general to solve related robustness problems including controllability, stabilizability, and detectability.</p> <p>Having established feasibility, …
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Nonlinear Control and Robust Observer Design for Marine Vehicles
A robust nonlinear observer, utilizing the sliding mode concept, is developed for the dynamic positioning of ships. The observer provides the estimates of linear velocities of the ship and bias from the slowly varying environmental loads. It also filters out wave frequency motion to avoid wear of …
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Observer Design for Non-Monotonic Nonlinear Systems and Interesting Contemporary Applications
This dissertation analyzes observer design for non-monotonic nonlinear systems and develops globally stable observer design techniques for such systems. Non-monotonic nonlinear systems are frequently encountered in many practical applications, including vehicle tracking, magnetic position …
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Structure-Inspired Disturbance Observer Design and Disturbance Observer-Based Control/estimation
… two topics: (1) structure-inspired disturbance observer design and (2) disturbance observer-based control/estimation. The disturbance is defined as the discrepancy between a model and the system the model represents. A disturbance observer is an algorithm that generates an estimate of the …
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Reduced-order modeling and adaptive observer design for lithium-ion battery cells
This thesis discusses the design of a control-oriented modeling approach to Lithium- Ion battery modeling, as well as the application of adaptive observers to this structure. It begins by describing the fundamental problem statement of a battery management system (BMS), and why this is challenging …
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Nonlinear observer design and synchronization analysis for classical models of neural oscillators
… nonlinear systems were used to develop a set of observers and perform synchronization analysis on the aforementioned neural systems. By using matrix analysis techniques, a study of biological background and motivation, and MATLAB simulation with mathematical computation, it was possible to do a …
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Nonlinear observer design using contraction theory with application to heat exchangers having varying phase transition
… directly measurable. In this thesis, nonlinear observers for estimating those inaccessible state variables are designed and are applied to the control and monitoring of an air conditioning system. First heat exchanger dynamics including complex phase transition phenomena are analyzed. It is …
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Switching observer design, consensus management, and time-delayed control with applications for rigid-body attitude dynamics
… the formulation of a novel class of switching observers. In the area of consensus management for cooperative control, the problem of designing torque control laws that synchronize the attitude of a team of rigid bodies under constant, unknown communication time delays is addressed. Directed …
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Optimal fault detection and resolution during maneuvering for Autonomous Underwater Vehicles
… system control faults. Prior model-based observer design for 21UUV was analyzed using actual vehicle sensor data. It was shown, based on experimental response, that residual generation during maneuvering was too excessive to detect manually implemented faults. Optimization of vehicle …
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Discrete-time observers for inertial navigation systems
… we derive an exact deterministic nonlinear observer to compute the continuous-time states of inertial navigation system based on partial discrete measurements, the so-called strapdown problem. Nonlinear contraction theory is used as the main analysis tool. The hierarchical structure of the …
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Linear-time invariant Positive Systems: Stabilization and the Servomechanism Problem
… separation principle and stabilization via observer design. The second, and most emphasized, problem of this dissertation considers the positive servomechanism problem for both single-input single-output (SISO) and multi-input multi-output (MIMO) stable positive LTI systems. The study of the …
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Observer based velocity and environment force estimation for rigid body control
… estimates from position errors in a velocity observer. Obtaining torque estimates from a nonlinear velocity observer is achieved by using the linear force observer as an analogue. Stability of the torque observer to a constant environment torque is proven for the one dimensional case only. …
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On Observer-Based Control of Nonlinear Systems
… general, however, the combination of separately designed state observers and state feedback controllers does not preserve performance, robustness, or even stability of each of the separate designs. In this thesis, the problems of observer design and observer-based control for nonlinear systems …
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Stability Limits of Uncertain Systems in the Presence of Unmatched Coupled Dynamics and Actuator Dynamics with Adaptive Architectures
… order to deal with coupled dynamics, we used an observer design to estimate the states of unmatched coupled dynamics. In addition, Lyapunov stability analyses are provided to prove closed-loop systems stabilities with the aforementioned MRACs. Specifically, modified hedging- and expanded-based …
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Dynamic Neural Network-based Adaptive Inverse Optimal Control Design
… model based adaptive inverse optimal control design for a class of nonlinear systems. A DNN structure is developed and stabilized based on a control Lyapunov function (CLF). The CLF must satisfy the partial Hamilton Jacobi-Bellman (HJB) equation to solve the cost function in order to prove the …
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State feedback control with time delay
… theory of linear state estimation also called observer design. We identify the limitations of this approach and introduce the concept of state reconstruction by delayed action. We develop a method to reconstruct the inaccessible states by introducing delay in the system and using information …
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Observer based active fault tolerant control of descriptor systems
… reconfigurable control are described as separate design issues often using a standard state space (i.e. non-descriptor) system model approach. These separate FDD/FE and reconfigurable control designs may not achieve desired stability and robustness performance when combined within a closed-loop …
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Impacts of managed realignment on low-lying coasts
This thesis is focused on the design of advanced suspension systems (active and semi-active) using time-domain optimal control methods. This work has been strongly motivated by the need to develop an approach to active and semi-active suspensions which was ready to be applied directly in a …
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Fast adaptive observers for battery management systems
… in electrochemical modeling and adaptive observers in general. The first and fundamental component is a modification of the SPM with attractive features such as the encapsulation of lithium diffusion as a linear dynamical system independent of nonlinearities and decoupling of the nonlinear …
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Nonlinear Observers for Aircraft Maneuvering in Wind
… addresses these gaps by advancing nonlinear observer design and flight dynamic modeling to estimate wind from aircraft motion with assured performance. First, a symmetry-preserving, reduced-order state observer is introduced for the unmeasured part of a system's state, leveraging the fact …
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