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Generalized Homogenization of Linear Controllers: Theory and Experiment

Authors :: Siyuan Wang
Andrey Polyakov
Gang Zheng
Finite-time control and estimation for distributed systems (VALSE)
Inria Lille - Nord Europe
Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL)
Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)
Deformable Robots Simulation Team (DEFROST )
The authors acknowledge the support of CSC Grant, CPER DATA and ANR DIGISLID, ANR-18-CE40-0008. The second author also acknowledges the support of the Government of Russian Federation (Grant 08-08) and the Ministry of Science and Higher Education of Russian Federation, goszadanie no. 2019-0898. The third author acknowledges the support of the Project of Department of Education of Guangdong Province (No.2019KZDXM037) China, the Project Inventor (I-SITE ULNE, le programme d’Investissements d’Avenir, Métropole Européenne de Lille), and the Project ROBOCOP [ANR-19-CE19-0026].
ANR-19-CE19-0026,ROBOCOP,robotisation de l'implant cochléaire(2019)
Source :: International Journal of Robust and Nonlinear Control, International Journal of Robust and Nonlinear Control, In press, ⟨10.1002/rnc.5112⟩, International Journal of Robust and Nonlinear Control, Wiley, In press, ⟨10.1002/rnc.5112⟩
Publication Year :: 2020
Publisher :: HAL CCSD, 2020.
Abstract: A procedure of upgrading a linear observer to homogeneous (nonlinear) one is proposed and validated by experiment. The nonlinear observer design is based on the the concept of a linear geometric homogeneity. The simple procedure developed to apply the homogeneous nonlinear observer is based on the parameters provided by the linear observer, which is potential for many applications to improve their performance. A saturation function is introduced to guaranteed the improvement of estimation quality. Finally the theoretical results are confirmed by the QDrone platform of Quanser T M .

Details

Language :: English
ISSN :: 10498923 and 10991239
Database :: OpenAIRE
Journal :: International Journal of Robust and Nonlinear Control, International Journal of Robust and Nonlinear Control, In press, ⟨10.1002/rnc.5112⟩, International Journal of Robust and Nonlinear Control, Wiley, In press, ⟨10.1002/rnc.5112⟩
Accession number :: edsair.doi.dedup.....f33a1ed9996899153c2a8b92ec690999
Full Text :: https://doi.org/10.1002/rnc.5112⟩