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Kalman Filter Based Fault Detection of Dual Motor Systems

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Kalman Filter Based Fault Detection of Dual Motor Systems

Adaptive Optimal Integral Sliding Mode Control for a Dual-motor Driving Servo System

第36届中国控制会议

作者： GUO Fumin REN Xuemei LI Zhijun HAN Cunwu Beijing Institute of Technology North China University of Technology

ISBN: (纸本)9781538629185

Fault detection of a class of dual motor systems is discussed in this paper.A linear dual motor systems with sensor faults and actuator faults as well as random noise are modeled,and a kalman filter based fault detection scheme is *** the designed fault detection scheme,a kalman filter based residual generator is constructed to generate the residual signal,and then an evaluation function is used to provide the fault decision,also a threshold is designed to detect the occurrence of ***,a simulation example is given to show the applicability and effectiveness of the proposed fault detection approach.

关键词： Kalman Filter Fault Detection Dual Motor Systems

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Adaptive Optimal Integral Sliding Mode Control for a Dual-mo...

Multidimensional zero-crossing interval points: a low sampling rate acoustic fingerprint recognition method

第36届中国控制会议

作者： Minlin Wang Xuemei Ren Linwei Li Qiang Chen School of Automation Beijing Institute of Technology College of Information Engineering Zhejiang University of Technology

ISBN: (纸本)9781538629185

In this paper, an adaptive optimal integral sliding mode controller is presented to realize the load position tracking for a multi-motor driving servo system（MDSS）. By reformulating the MDSS in a strict feedback form, a neural network state observer is designed to estimate both immeasurable states and unknown nonlinearities. Based on this state observer, two adaptive optimal integral sliding mode controllers are developed and integrated into one tracking controller through the backstepping *** proposed controllers can not only guarantee a satisfactory load tracking performance but also increase the robustness to system uncertainties. By using the Lyapunov stability theorem, it is certified that all signals of the MDSS are uniformly ultimately bounded. Simulation results on a four-motor driving servo system are conducted to validate the efficiency of the proposed control scheme.

关键词： Multi-motor driving servo system neural network state observer integral sliding mode control optimal control

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Science China(Information Sciences) 2019年第1期62卷 226-228页

作者： Xianghu YUE Fang DENG Yue XU School of Mathematics and Statistics Beijing Institute of Technology School of Automation Beijing Institute of Technology

Dear editor,In recent years, acoustic fingerprint recognition technique has been widely utilized in areas such as battle environments, environmental monitoring,security systems, and personal identification [1],which p... 详细信息

关键词： Multidimensional zero-crossing interval points a low sampling rate acoustic fingerprint recognition method

Optimal fusion estimation for stochastic systems with cross-correlated sensor noises

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Science China(Information Sciences) 2017年第12期60卷 57-70页

作者： Liping YAN Yuanqing XIA Mengyin FU School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

This paper is concerned with the optimal fusion of sensors with cross-correlated sensor *** taking linear transformations to the measurements and the related parameters, new measurement models are established, where the sensor noises are decoupled. The centralized fusion with raw data, the centralized fusion with transformed data, and a distributed fusion estimation algorithm are introduced, which are shown to be equivalent to each other in estimation precision, and therefore are globally optimal in the sense of linear minimum mean square error(LMMSE). It is shown that the centralized fusion with transformed data needs lower communication requirements compared to the centralized fusion using raw data directly, and the distributed fusion algorithm has the best flexibility and robustness and proper communication requirements and computation complexity among the three algorithms(less communication and computation complexity compared to the existed distributed Kalman filtering fusion algorithms). An example is shown to illustrate the effectiveness of the proposed algorithms.

关键词： optimal estimation distributed fusion Kalman filter cross-correlated noises linear transformation

Hierarchical particle filter tracking algorithm based on multi-feature fusion

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Journal of Systems Engineering and Electronics 2016年第1期27卷 51-62页

作者： Minggang Gan Yulong Cheng Yanan Wang Jie Chen School of Automation Beijing Institute of Technology

A hierarchical particle filter（HPF） framework based on multi-feature fusion is *** proposed HPF effectively uses different feature information to avoid the tracking failure based on the single feature in a complicated *** this approach,the Harris algorithm is introduced to detect the corner points of the object,and the corner matching algorithm based on singular value decomposition is used to compute the firstorder weights and make particles centralize in the high likelihood *** the local binary pattern（LBP） operator is used to build the observation model of the target based on the color and texture features,by which the second-order weights of particles and the accurate location of the target can be ***,a backstepping controller is proposed to complete the whole tracking *** and experiments are carried out,and the results show that the HPF algorithm with the backstepping controller achieves stable and accurate tracking with good robustness in complex environments.

关键词： particle filter corner matching multi-feature fusion local binary patterns(LBP) backstepping.

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Adaptive robust control for four-motor driving servo system with uncertain nonlinearities

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Control Theory and Technology 2017年第1期15卷 45-57页

作者： Wei ZHAO Xuemei REN Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China

A novel adaptive robust control （ARC） is presented for the four-motor driving servo systems with the uncertain nonlinearities and actuation failures, such that the load tracking control is achieved with the proximate optimal-time. By applying the proposed scheme, several control objectives are achieved. First, the nonlinear synchronization algorithm is presented to maintain the velocity synchronization of each motor, which provides fast convergence without chatting. Moreover, the time-varying bias torque is applied to eliminate the effect of backlash and reduce the waste of energy. Then, the ARC is designed to achieve the proximate optimal-time output tracking with the transient performance in L2 norm, where the friction and actuation failures are addressed by the adaptive scheme based on the norm estimation of unknown parameter vector. Finally, the extensive simulated and experimental results validate the effectiveness of the proposed method.

关键词： Four-motor driving servo systems adaptive robust control velocity synchronization control friction backlash,actuation failures

A survey on the security of cyber-physical systems

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Control Theory and Technology 2016年第1期14卷 2-10页

作者： Guangyu WU Jian SUN Jie CHEN School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China

Cyber-physical systems （CPSs） are integrations of computation, communication, control and physical processes. Typical examples where CPSs are deployed include smart grids, civil infrastructure, medical devices and manufacturing. Security is one of the most important issues that should be investigated in CPSs and hence has received much attention in recent years. This paper surveys recent results in this area and mainly focusses on three important categories： attack detection, attack design and secure estimation and control. We also discuss several future research directions including risk assessment, modeling of attacks and attacks design, counter-attack strategy and testbed and validation.

关键词： Security cyber-physical systems attack detection secure estimation and control

UKF based Fault Detection and State Estimation for Nonlinear Systems with Correlated Noise

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UKF based Fault Detection and State Estimation for Nonlinear...

Switching Control System Based on Robust Model Reference Adaptive Control

第36届中国控制会议

作者： Hongxue Chen Liping Yan Yuanqing Xia Mengyin Fu Bo Xiao Guangzheng Hu Huifang Li Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781538629185

State estimation and fault diagnosis are essential topics for dynamic *** Kalman fllter（UKF） has been widely applied in nonlinear *** classical UKF algorithm is built on the premise that process noise and measurement noise is *** practical problems,this assumption is not always *** addition,due to the limitation of communication and sensor fault,etc.,data missing or unreliable measurements will happen ***,it is very important to study the state estimation of nonlinear systems with unreliable measurements and correlated *** this paper,an UKF based state estimation algorithm with unreliable observations under correlated noise is presented.A numerical example is given to show the feasibility and effectiveness of the presented algorithm.

关键词： fault detection state estimation correlated noise nonlinear system

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Journal of Systems Science & Complexity 2016年第4期29卷 897-932页

作者： HU Qiong FEI Qing MA Hongbin WU Qinghe GENG Qingbo School of Automation Beijing Institute of Technology Shanghai Institute of Optics and Fine Mechanics Chinese Academy of Sciences State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology

For conventional adaptive control, time-varying parametric uncertainty and unmodeled dynamics are ticklish problems, which will lead to undesirable performance or even instability and nonrobust behavior, respectively. In this study, a class of discrete-time switched systems with unmodeled dynamics is taken into consideration. Moreover, nonlinear systems are here supposed to be approximated with the class of switched systems considered in this paper, and thereby switching control design is investigated for both switched systems and nonlinear systems to assure stability and performance. For robustness against unmodeled dynamics and uncertainty, robust model reference adaptive control(RMRAC) law is developed as the basis of controller design for each individual subsystem in the switched systems or nonlinear systems. Meanwhile, two different switching laws are presented for switched systems and nonlinear systems, respectively. Thereby, the authors incorporate the corresponding switching law into the RMRAC law to construct two schemes of switching control respectively for the two kinds of controlled systems. Both closed-loop analyses and simulation examples are provided to illustrate the validity of the two proposed switching control schemes. Furthermore, as to the proposed scheme for nonlinear systems, its potential for practical application is demonstrated through simulations of longitudinal control for F-16 aircraft.

关键词： Longitudinal control of F-16 aircraft switching control switching law. nonlinear systems RMRAC switched systems

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