Persistence Filters for Estimation: Applications to Control in Shared-Sensing Reversible Transducer Systems
Persistence Filters for Estimation: Applications to Control in Shared-Sensing Reversible Transducer Systems
复制标题
用于估计的余辉滤波器：共享传感可逆传感器系统中的控制应用
DOI：
10.1115/1.4005510
复制
发表时间：
2012
影响因子：
1.7
通讯作者：
M. Akella
中科院分区：
文献类型：
--
作者：
Srikant Sukumar;M. Akella
我们研究了具有状态和时间依赖性控制或测量收益的系统的状态观察者和反馈控制设计。在此框架中，我们查看可逆传感器在某些预定时间表之间不断切换在驱动和传感模式之间。这些类别的开关/混合系统的稳定状态观察者和反馈控制器的设计和分析显着复杂，即在任何给定的时间瞬间，整个系统都将失去可控性（在传感阶段）或可观察性（在传感阶段）或观察力（在期间（期间）致动阶段）。在这项工作中，我们考虑具有标量时变量的测量收益的系统，并提供了一种新颖的观察者结构，可以保证对其真实值的状态估计的指数重建。我们迈出了进一步的一步，以实现指数稳定的控制器设计，该设计使用观察者产生的状态估计值。这相当于建立控制设计的相当出色的分离属性。这些发展取决于相当温和的技术假设，可以将其解释为可逆传感器问题，因为感应和致动模式都可以持续停留时间。这里的一个重要特征是，可以将收敛率指定为任何任意值。我们的理论结果通过数值模拟对包括开环不稳定系统在内的具有挑战性的测试库进行验证。该论文还说明了通过考虑有趣的特殊情况来实现基于观察者控制设计的非线性扩展的潜力。
We investigate state observer and feedback control design for systems with state- and time-dependent control or measurement gains. In this framework, we look at reversible transducers that are continually switched between the actuation and sensing modes at some prespecified schedule. Design and analysis of stable state-observers and feedback controllers for these classes of switched/hybrid systems are significantly complicated by the fact that, at any given instant of time, the overall system loses either controllability (during the sensing phase) or observability (during the actuation phase). In this work, we consider systems with scalar time-varying measurement gains and provide a novel observer construction that guarantees exponential reconstruction of state estimates to their true values. We go a step further to derive an exponentially stabilizing controller design that uses the state estimates resulting from our observer. This amounts to the establishment of a rather remarkable separation property of the control design. These developments hinge on a rather mild technical assumption, which can be interpreted for the reversible transducer problem as a persistent dwell time for both the sensing and actuation modes. An important feature here is that the convergence rate can be specified to any arbitrary value. Our theoretical results are validated through numerical simulations of challenging test-cases that include open-loop unstable systems. The paper also illustrates potential for nonlinear extensions of the observer based control design by considering an interesting special case.