8 research outputs found
Adaptive Estimation for Uncertain Nonlinear Systems with Measurement Noise: A Sliding-Mode Observer Approach
International audienceThis paper deals with the problem of adaptive estimation, i.e. the simultaneous estimation of the state and time-varying parameters, in the presence of measurement noise and state disturbances, for a class of uncertain nonlinear systems. An adap-tive observer is proposed based on a nonlinear time-varying parameter identification algorithm and a sliding-mode observer. The nonlinear time-varying parameter identification algorithm provides a fixed-time rate of convergence, to a neighborhood of the origin, while the sliding-mode observer ensures ultimate boundedness for the state estimation error attenuating the effects of the external disturbances. Linear matrix inequalities are provided for the synthesis of the adaptive observer while the convergence proofs are given based on the Lyapunov and Input-to-State Stability theory. Finally, some simulation results show the feasibility of the proposed approach
Energy efficient wireless sensor network protocols for monitoring and prognostics of large scale systems
In this work, energy-efficient protocols for wireless sensor networks (WSN) with applications to prognostics are investigated. Both analytical methods and verification are shown for the proposed methods via either hardware experiments or simulation. This work is presented in five papers. Energy-efficiency methods for WSN include distributed algorithms for i) optimal routing, ii) adaptive scheduling, iii) adaptive transmission power and data-rate control --Abstract, page iv
INTELLIGENT ESTIMATION IN DYNAMIC POSITIONING SYSTEMS OF MARINE VESSELS
Sustavi za dinamiÄko pozicioniranje plovnih objekata koriste se za održavanje
njihove pozicije, smjera napredovanja i brzine, održavanje unaprijed definirane
putanje gibanja, potpomognuto sidrenje i sl. Da bi se ove operacije uopÄe mogle
provoditi, nužno je, izmeÄu ostalog, omoguÄiti i odreÄivanje precizne
estimacije niskofrekventne pozicije, smjera napredovanja i brzine plovnog
objekta, te estimaciju vjetrovnog i sporopromjenjivog optereÄenja koje uzrokuju
ostali vanjski poremeÄaji. U realnim sustavima za pozicioniranje plovnih
objekata funkciju observera, tj. estimatora, ima neka od inaÄica Kalmanovog
filtra koji ima veÄ dugu tradiciju u brodskim sustavima upravljanja.
U radu su analizirani klasiÄni koncepti na kojima su temeljeni postojeÄi sustavi
za dinamiÄko pozicioniranje te su istražene znaÄajke dinamiÄkog pozicioniranja
plovnih objekata s teoretske i praktiÄne strane, posebno u dijelu koji se odnosi
na problematiku filtriranja, identifikacije, estimacije i predikcije. UoÄene su
brojne prednosti, ali i nedostaci postojeÄih rjeÅ”enja koji se mogu otkloniti
primjenom novijih raÄunalnih tehnologija kao Å”to su algoritmi strojnog uÄenja i
raÄunalne inteligencije.
Iz navedenih razloga, predložene su i konstruirane strukture statiÄkih,
dinamiÄkih i hibridnih inteligentnih identifikatora i estimatora za potrebe
identifikacije i estimacije u sustavima za dinamiÄko pozicioniranje. Od
posebnog znaÄaja su predloženi hibridni sustavi inteligentnih identifikatora i
estimatora s proŔirenim Kalmanovim filtrom te inteligentni identifikatori za
fuziju senzorskih informacija i rekonstrukciju signala u prekidu. Predloženi
inteligentni identifikatori i estimatori su verificirani na realnim mjerenjima DP
Log arhive dizaliÄara i cjevopolagaÄa Saipem 7000 tijekom postupka polaganja
cijevi na Projektu Ormen Lange (NorveŔka, 2006.).Dynamic positioning (DP) systems are used for maintaining position, heading
and speed of the vessels, but also a predefined motion path, position mooring,
etc. To ensure performing of these operations, it is necessary, among other
things, to determine an accurate estimation of low-frequency position, heading
and speed of the vessel. Additionally, it is necessary to ensure the estimation of
wind and slowly-varying loads caused by other environmental disturbances. In
actual DP systems, the vessel observer is usually an extended Kalman filter
(EKF) which is traditionally used in marine control systems.
In this doctoral thesis the classical base concepts of the existing commercial DP
systems are analysed. Furthermore, the characteristics of DP systems are
analysed both from the theoretical and practical point of view, especially in the
part which is closely related to filtering, identification, estimation and
prediction. Numerous advantages of existing solutions are identified, but also
the several disadvantages which can be eliminated by using modern
computational technologies such as machine learning and computational
intelligence algorithms are pointed out.
For these reasons, structures based on static, dynamic and hybrid intelligent
identifiers and estimators have been proposed for the purpose of intelligent
identification and estimation in DP systems. Proposed hybrid system of
intelligent identifiers and estimators combined with EKF, as well as the
intelligent identifiers for the sensor fusion and reconstruction of lost signals, are
of particular interest. Intelligent identifiers and estimators are further adjusted,
tested, and verified with real measurements from the DP Log archive of the
heavy-lift and J-lay pipe vessel Saipem 7000
INTELLIGENT ESTIMATION IN DYNAMIC POSITIONING SYSTEMS OF MARINE VESSELS
Sustavi za dinamiÄko pozicioniranje plovnih objekata koriste se za održavanje
njihove pozicije, smjera napredovanja i brzine, održavanje unaprijed definirane
putanje gibanja, potpomognuto sidrenje i sl. Da bi se ove operacije uopÄe mogle
provoditi, nužno je, izmeÄu ostalog, omoguÄiti i odreÄivanje precizne
estimacije niskofrekventne pozicije, smjera napredovanja i brzine plovnog
objekta, te estimaciju vjetrovnog i sporopromjenjivog optereÄenja koje uzrokuju
ostali vanjski poremeÄaji. U realnim sustavima za pozicioniranje plovnih
objekata funkciju observera, tj. estimatora, ima neka od inaÄica Kalmanovog
filtra koji ima veÄ dugu tradiciju u brodskim sustavima upravljanja.
U radu su analizirani klasiÄni koncepti na kojima su temeljeni postojeÄi sustavi
za dinamiÄko pozicioniranje te su istražene znaÄajke dinamiÄkog pozicioniranja
plovnih objekata s teoretske i praktiÄne strane, posebno u dijelu koji se odnosi
na problematiku filtriranja, identifikacije, estimacije i predikcije. UoÄene su
brojne prednosti, ali i nedostaci postojeÄih rjeÅ”enja koji se mogu otkloniti
primjenom novijih raÄunalnih tehnologija kao Å”to su algoritmi strojnog uÄenja i
raÄunalne inteligencije.
Iz navedenih razloga, predložene su i konstruirane strukture statiÄkih,
dinamiÄkih i hibridnih inteligentnih identifikatora i estimatora za potrebe
identifikacije i estimacije u sustavima za dinamiÄko pozicioniranje. Od
posebnog znaÄaja su predloženi hibridni sustavi inteligentnih identifikatora i
estimatora s proŔirenim Kalmanovim filtrom te inteligentni identifikatori za
fuziju senzorskih informacija i rekonstrukciju signala u prekidu. Predloženi
inteligentni identifikatori i estimatori su verificirani na realnim mjerenjima DP
Log arhive dizaliÄara i cjevopolagaÄa Saipem 7000 tijekom postupka polaganja
cijevi na Projektu Ormen Lange (NorveŔka, 2006.).Dynamic positioning (DP) systems are used for maintaining position, heading
and speed of the vessels, but also a predefined motion path, position mooring,
etc. To ensure performing of these operations, it is necessary, among other
things, to determine an accurate estimation of low-frequency position, heading
and speed of the vessel. Additionally, it is necessary to ensure the estimation of
wind and slowly-varying loads caused by other environmental disturbances. In
actual DP systems, the vessel observer is usually an extended Kalman filter
(EKF) which is traditionally used in marine control systems.
In this doctoral thesis the classical base concepts of the existing commercial DP
systems are analysed. Furthermore, the characteristics of DP systems are
analysed both from the theoretical and practical point of view, especially in the
part which is closely related to filtering, identification, estimation and
prediction. Numerous advantages of existing solutions are identified, but also
the several disadvantages which can be eliminated by using modern
computational technologies such as machine learning and computational
intelligence algorithms are pointed out.
For these reasons, structures based on static, dynamic and hybrid intelligent
identifiers and estimators have been proposed for the purpose of intelligent
identification and estimation in DP systems. Proposed hybrid system of
intelligent identifiers and estimators combined with EKF, as well as the
intelligent identifiers for the sensor fusion and reconstruction of lost signals, are
of particular interest. Intelligent identifiers and estimators are further adjusted,
tested, and verified with real measurements from the DP Log archive of the
heavy-lift and J-lay pipe vessel Saipem 7000
INTELLIGENT ESTIMATION IN DYNAMIC POSITIONING SYSTEMS OF MARINE VESSELS
Sustavi za dinamiÄko pozicioniranje plovnih objekata koriste se za održavanje
njihove pozicije, smjera napredovanja i brzine, održavanje unaprijed definirane
putanje gibanja, potpomognuto sidrenje i sl. Da bi se ove operacije uopÄe mogle
provoditi, nužno je, izmeÄu ostalog, omoguÄiti i odreÄivanje precizne
estimacije niskofrekventne pozicije, smjera napredovanja i brzine plovnog
objekta, te estimaciju vjetrovnog i sporopromjenjivog optereÄenja koje uzrokuju
ostali vanjski poremeÄaji. U realnim sustavima za pozicioniranje plovnih
objekata funkciju observera, tj. estimatora, ima neka od inaÄica Kalmanovog
filtra koji ima veÄ dugu tradiciju u brodskim sustavima upravljanja.
U radu su analizirani klasiÄni koncepti na kojima su temeljeni postojeÄi sustavi
za dinamiÄko pozicioniranje te su istražene znaÄajke dinamiÄkog pozicioniranja
plovnih objekata s teoretske i praktiÄne strane, posebno u dijelu koji se odnosi
na problematiku filtriranja, identifikacije, estimacije i predikcije. UoÄene su
brojne prednosti, ali i nedostaci postojeÄih rjeÅ”enja koji se mogu otkloniti
primjenom novijih raÄunalnih tehnologija kao Å”to su algoritmi strojnog uÄenja i
raÄunalne inteligencije.
Iz navedenih razloga, predložene su i konstruirane strukture statiÄkih,
dinamiÄkih i hibridnih inteligentnih identifikatora i estimatora za potrebe
identifikacije i estimacije u sustavima za dinamiÄko pozicioniranje. Od
posebnog znaÄaja su predloženi hibridni sustavi inteligentnih identifikatora i
estimatora s proŔirenim Kalmanovim filtrom te inteligentni identifikatori za
fuziju senzorskih informacija i rekonstrukciju signala u prekidu. Predloženi
inteligentni identifikatori i estimatori su verificirani na realnim mjerenjima DP
Log arhive dizaliÄara i cjevopolagaÄa Saipem 7000 tijekom postupka polaganja
cijevi na Projektu Ormen Lange (NorveŔka, 2006.).Dynamic positioning (DP) systems are used for maintaining position, heading
and speed of the vessels, but also a predefined motion path, position mooring,
etc. To ensure performing of these operations, it is necessary, among other
things, to determine an accurate estimation of low-frequency position, heading
and speed of the vessel. Additionally, it is necessary to ensure the estimation of
wind and slowly-varying loads caused by other environmental disturbances. In
actual DP systems, the vessel observer is usually an extended Kalman filter
(EKF) which is traditionally used in marine control systems.
In this doctoral thesis the classical base concepts of the existing commercial DP
systems are analysed. Furthermore, the characteristics of DP systems are
analysed both from the theoretical and practical point of view, especially in the
part which is closely related to filtering, identification, estimation and
prediction. Numerous advantages of existing solutions are identified, but also
the several disadvantages which can be eliminated by using modern
computational technologies such as machine learning and computational
intelligence algorithms are pointed out.
For these reasons, structures based on static, dynamic and hybrid intelligent
identifiers and estimators have been proposed for the purpose of intelligent
identification and estimation in DP systems. Proposed hybrid system of
intelligent identifiers and estimators combined with EKF, as well as the
intelligent identifiers for the sensor fusion and reconstruction of lost signals, are
of particular interest. Intelligent identifiers and estimators are further adjusted,
tested, and verified with real measurements from the DP Log archive of the
heavy-lift and J-lay pipe vessel Saipem 7000
Systems Structure and Control
The title of the book System, Structure and Control encompasses broad field of theory and applications of many different control approaches applied on different classes of dynamic systems. Output and state feedback control include among others robust control, optimal control or intelligent control methods such as fuzzy or neural network approach, dynamic systems are e.g. linear or nonlinear with or without time delay, fixed or uncertain, onedimensional or multidimensional. The applications cover all branches of human activities including any kind of industry, economics, biology, social sciences etc