This article presents a fault diagnosis control scheme for intrinsically redundant robot manipulators based on the combination of deep reinforcement learning (DRL) approach and battery sliding mode observers. The DRL plays role detecting isolating possible sensor faults, thus generating an alarm pin-pointing source. in turn allows to compensate faults independently from actuator ones. latter ar...

In this paper we investigate the observation problems for a class of nonlinear Lipschitz systems, subject to network constraints. In order to address this problem, an impulsive observer is designed, making use of the event–triggered technique in order to diminish the network usage. The proposed observer ensures practical state estimation. The output sampling is done on a periodic basis, but the...

In modern control theory, it has been a common practice to use ordinary differential equations to model dynamic systems. However, most of real systems have delays associated -normally introduced by natural response time (of sensors, actuators, etc, . . .) , and transport (of information, mass, etc, . . .) phenomenaand a more accurate model would require the use of functional-differential equati...

A state observer is proposed for a class of multi-output nonlinear systems. The gain of this observer involves a design function that has to satisfy some mild conditions which are given. Different expressions of such a function are proposed. Of particular interest, it is shown that high gain observers and sliding mode like observers can be derived by considering particular expressions of the de...

It is known that for nonlinear systems the driftobservability property (i.e. observability for zero input) is no t sufficient to guarantee the existence of an asymptotic observer for any input. Many authors studied conditions on systems structure that ensure uniform observability (i.e. observability for any input). Conditions are available that define restrict classes of uniformly observable sy...

A substantial amount of materials in the pharmaceutical, food, and fine chemical industry is produced in crystalline form. Batch crystallization is a key separation and purification unit in such industries, with a significant impact on the efficiency and profitability of the overall process. Advanced model-based control of crystallization processes offers many possibilities to achieve the strin...

Control and state estimation of nonlinear systems satisfying a Lipschitz continuity condition have been important topics in nonlinear system theory for over three decades, resulting in a substantial amount of literature. The main criticism behind this approach, however, has been the restrictive nature of the Lipschitz continuity condition and the conservativeness of the related results. This wo...

where C~ E R" ,xt R" , and gt E RP are the state, control, and measurement vectors, respectively. The initial state 5 is unknown. We assume that 5 E X and 5 E U , where X and U are compact sets. Now, let us consider a sliding-window observer. This means that, a t a given stage t and for a given temporal window of length N stages, we have to recovery c ~ ~ on the basis of the last N + 1 measurem...

In this paper, the problem of localizing a nonholonomic vehicle moving in an unstructured environment is addressed by the design of a novel nonlinear observer, based on suitably processed optical information. The localization problem has been shown to be intrinsically nonlinear, indeed the linear approximation of the system has di erent structural properties than the original model. The propose...