A non-linear observer for unsteady three-dimensional flows

A method is proposed to estimate the velocity field of an unsteady flow using a limited number of flow measurements. The method is based on a non-linear low-dimensional model of the flow and on expanding the velocity field in terms of empirical basis functions. The main idea is to impose that the coefficients of the modal expansion of the velocity field give the best approximation to the available measurements and that at the same time they satisfy as close as possible the non-linear low-order model. The practical use may range from feedback flow control to monitoring of the flow in non-accessible regions. The proposed technique is applied to the flow around a confined square cylinder, both in two- and three-dimensional laminar flow regimes. Comparisons are provided. with existing linear and non-linear estimation techniques

Nonlinear state-observer techniques for sensorless control of automotive PMSM's, including load-torque estimation and saliency

The paper investigates various non-linear observer-based rotor position estimation schemes for sensorless control of permanent magnet synchronous motors (PMSMs). Attributes of particular importance to the application of brushless motors in the automotive sector, are considered e.g. implementation cost, accuracy of predictions during load transients, the impact of motor saliency and algorithm complexity. Emphasis is given to techniques based on model linearisation during each sampling period (EKF); feedback-linearisation followed by Luenberger observer design based on the resulting �linear� motor characteristics; and direct design of non-linear observers. Although the benefits of sensorless commutation of PMSMs have been well expounded in the literature, an integrated approach to their design for application to salient machines subject to load torque transients remains outstanding. Furthermore, this paper shows that the inherent characteristics of some non-linear observer structures are particularly attractive since they provide a phase-locked-loop (PLL)-type of configuration that can encourage stable rotor position estimation, thereby enhancing the overall sensorless scheme. Moreover, experimental results show how operation through, and from, zero speed, is readily obtainable. Experimental results are also employed to demonstrate the attributes of each methodology, and provide dynamic and computational performance comparisons

Experimental External Force Estimation Using a Non-Linear Observer for 6 axes Flexible-Joint Industrial Manipulators

This paper proposes a non-linear observer to estimate not only the state (position and velocity) of links but also the external forces exerted by the robot during Friction Stir Welding (FSW) processes. The difficulty of performing this process with a robot lies in its lack of rigidity. In order to ensure a better tracking performance, the data such as real positions, velocities of links and external forces are required. However, those variations are not always measured in most industrial robots. Therefore, in this study, an observer is proposed to reconstruct those necessary parameters by using only measurements of motor side. The proposed observer is carried out on a 6 DOF flexible-joint industrial manipulator used in a FSW process.ANR-2010-SEGI-003-01-COROUSSO, French National Agenc

An Equivariant Observer Design for Visual Localisation and Mapping

This paper builds on recent work on Simultaneous Localisation and Mapping (SLAM) in the non-linear observer community, by framing the visual localisation and mapping problem as a continuous-time equivariant observer design problem on the symmetry group of a kinematic system. The state-space is a quotient of the robot pose expressed on SE(3) and multiple copies of real projective space, used to represent both points in space and bearings in a single unified framework. An observer with decoupled Riccati-gains for each landmark is derived and we show that its error system is almost globally asymptotically stable and exponentially stable in-the-large.Comment: 12 pages, 2 figures, published in 2019 IEEE CD

Robust control tools for traffic monitoring in TCP/AQM networks

Several studies have considered control theory tools for traffic control in communication networks, as for example the congestion control issue in IP (Internet Protocol) routers. In this paper, we propose to design a linear observer for time-delay systems to address the traffic monitoring issue in TCP/AQM (Transmission Control Protocol/Active Queue Management) networks. Due to several propagation delays and the queueing delay, the set TCP/AQM is modeled as a multiple delayed system of a particular form. Hence, appropriate robust control tools as quadratic separation are adopted to construct a delay dependent observer for TCP flows estimation. Note that, the developed mechanism enables also the anomaly detection issue for a class of DoS (Denial of Service) attacks. At last, simulations via the network simulator NS-2 and an emulation experiment validate the proposed methodology

Space-based Microlens Parallax Observation As a Way to Resolve the Severe Degeneracy between Microlens-parallax and Lens-orbital Effect

In this paper, we demonstrate the severity of the degeneracy between the microlens-parallax and lens-orbital effects by presenting the analysis of the gravitational binary-lens event OGLE-2015-BLG-0768. Despite the obvious deviation from the model based on the the linear observer motion and the static binary, it is found that the residual can be almost equally well explained by either the parallactic motion of the Earth or the rotation of the binary lens axis, resulting in the severe degeneracy between the two effects. We show that the degeneracy can be readily resolved with the additional data provided by space-based microlens parallax observations. Enabling to distinguish between the two higher-order effects, space-based microlens parallax observations will make it possible not only to accurately determine the physical lens parameters but also to further constrain the orbital parameters of binary lenses.Comment: 6 pages, 5 figure

Active Flutter Suppression Using Reduced-Order Modeling for Transonic Aeroservoelastic Control Law Development

In this paper, several aerodynamic reduced-order models (ROMs) are generated and coupled with structural models to form aeroelastic ROMs. The aerodynamic ROMs generated here include the effects of control surface motion and are appropriate for use in aeroservoelastic applications. Simple observer-based full-state feedback controllers were designed from these aeroelastic ROMs. Additionally, observer gain matrices were designed from and coupled to the aeroelastic ROMs. Each (linear) observer was then used to estimate the dynamics of a (nonlinear) stand-alone computational fluid-structure dynamics simulation. Then, using the estimated states and the full-state feedback controller, control surface commands were fed back into the computational fluid-structure dynamics simulation to successfully achieve active flutter suppression. The process, as well as some results, are presented in this paper