Optimized state feedback regulation of 3DOF helicopter system via extremum seeking

In this paper, an optimized state feedback regulation of a 3 degree of freedom (DOF) helicopter is designed via extremum seeking (ES) technique. Multi-parameter ES is applied to optimize the tracking performance via tuning State Vector Feedback with Integration of the Control Error (SVFBICE). Discrete multivariable version of ES is developed to minimize a cost function that measures the performance of the controller. The cost function is a function of the error between the actual and desired axis positions. The controller parameters are updated online as the optimization takes place. This method significantly decreases the time in obtaining optimal controller parameters. Simulations were conducted for the online optimization under both fixed and varying operating conditions. The results demonstrate the usefulness of using ES for preserving the maximum attainable performance

Distributed H∞ filtering for a class of discrete-time Markov Jump Lur'e systems with redundant channels

This paper investigates the problem of distributed H∞ filtering for a class of discrete-time Markov jump Lur’e systems over sensor networks with stochastic switching topologies. As a first effort, the redundant channels are considered to use in the data transmission to strive against the fragility of networks commonly configured by a single channel in the communication networks subject to quantization and randomly occurring packet dropouts. By constructing a Lur’e-type Lyapunov function interconnected with a cone bounded nonlinearity, the filtering performance analysis for the underlying systems is first carried out. Then a new class of distributed filters, which can be used to reflect the mismatching characteristic of modes jumping between the target plants and the proposed filters, is designed such that the filtering error system is stochastically stable and achieves a prescribed average H∞ performance index. A numerical example is provided to show the effectiveness of the proposed filtering scheme