Haoping Wang

Piecewise continuous hybrid systems based observer design for linear systems with variable sampling periods and delay output

The present paper deals with a new continuous undelayed state observer design approach by using only the sampled and delayed measurements where the sampling period and delayed value are variable and unknown. This proposed piecewise continuous observer (PCO), which is derived by using the theory of a particular hybrid systems called piecewise continuous hybrid systems (PCHS), has a very simple structure and can be easily implemented to the networked visual serving systems. This type PCO observer can be also adapted easily according to other kind feedbacks, such as sampled output, delayed output, sampled and delayed state, sampled state, or delayed state whose sampling periods and delayed values are unknown. The proposed PCO observer stability is also analyzed and demonstrated. Moreover, to show the proposed PCO observer performance, a comparison with a Lyapunov-Krasovskii technique and descriptor representation based observer is conducted via a numerical example. HighlightsThe present paper deals with a new continuous undelayed state observer design approach by using only the sampled and delayed measurements where the sampling period and delayed value are variable and unknown.This proposed Piecewise Continuous Observer (PCO), which is derived by using the theory of a particular hybrid systems called Piecewise Continuous Hybrid Systems (PCHS), has a very simple structure and can be easily implemented to the networked visual servoing systems.This type PCO observer can be also adapted easily according to other kind feedbacks, such as sampled output, delayed output, sampled and delayed state, sampled state, or delayed state whose sampling periods and delayed values are unknown.The proposed PCO observer stability is also analyzed and demonstrated. Moreover, to show the proposed PCO observer performance, a comparison with a Lyapunov-Krasovskii technique and descriptor representation based observer is conducted via a numerical example.

Adaptive optimal trajectory tracking control of non-affine nonlinear system

This paper presents a new adaptive nonlinear control for trajectory tracking of non-affine nonlinear systems. The referred proposed controller which is based on a L2 norm prescribed to minimize a trajectory tracking error has adaptive and optimal characters. Moreover with the systems output feedback, the proposed controller which dose not require any knowledge of nonlinear internal dynamics can be adopted to a recursive control structure and ensures the trajectory tracking of systems output. Finally, to validate the proposed method, an illustrative numerical example validates the controller performance and robustness.

Optimal trajectory tracking controller design: Model based to model free methods

This paper presents a new adaptive optimal control which is based on a particular hybrid systems called piecewise linear continuous systems. This referred proposed controller which is based on a L2 norm prescribed to minimize a tracking error and a time-delay estimation technique is developed from model based and finally can be applied to systems without knowing internal dynamics. Thus this proposed Method has adaptive and optimal characters with a very simple Proportional-Derivative (PD) controller structure. It realizes the trajectory tracking of multi-inputs multi-outputs linear continuous systems under systems output feedback. Finally, to validate the proposed method performance, two illustrative examples which contains a knowing dynamic systems and a real-time based unknown motion control example are presented.

Piecewise continuous observer design used for networked or visual servoing control systems

This paper presents a new type observer design by using only the sampled delayed measurements where the delay value is different of the sampling period. This proposed piecewise continuous observer, called Piecewise Continuous Systems and derived by using the theory of a particular hybrid systems characterized by autonomous switchings and controlled impulses, has a very simple structure and can be easily implemented to the network control systems or visual servoing systems. The stability of this proposed observer is also analyzed and demonstrated. To show the proposed observer performance, a comparison with a Lyapunov-Krasovskii techniques and descriptor representation based observer is realized via a numerical example.

Recursive model free control of variable speed wind turbine systems

The paper deals with the recursive model free control of horizontal variable speed wind turbines, which makes possible to obtain a compromise between the wind energy limitation, the rotor speed reference tracking and the decreasing of solicitations induced in the mechanical structure of the turbine. The wind turbine system dynamics is described by a multi-input multi-output nonlinear mathematical model. A recursive controller is proposed which uses only the measurement of the system output and does not require identification of turbine parameters. The effectiveness and the robustness of the new controller are analyzed by numerical simulation.