In this paper, we develop two robust moving horizon state observer (MHSO) algorithms which are capable of handling system non-linear uncertainties and physical state constraints. The algorithms employ open-loop and closed-loop prediction strategies to convert the design into multi-parameter quadratic programming (mp-QP), and also utilize the novel rewinding optimization to eliminate the conflic...

This paper introduces a robust task-space control scheme for a robotic system with an adaptive observer. The proposed approach does not require the availability of the system states and an adaptive observer is developed to estimate the state variables. These estimated states are then used in the control scheme. First, the dynamic model of a robot is derived. Next, an observer-based robust contr...

One of the major challenges in robotic arms is to diagnosis sensor fault. To address this challenge, this paper presents an LPV approach. Initially, the dynamics of a two-link manipulator is modelled with a polytopic linear parameter varying structure and then by using a descriptor system approach and a robust design of a suitable unknown input observer by means of pole placement method along w...

Abstract: Full-state observers for linear systems use available measurements for the estimation of the entire state of a system. Reduced-order observers instead deliver an estimate only in the unmeasured state subspace while the state values in the measured subspace are taken directly from the measurements. This paper presents a combination of both types of observers which directly uses only pa...

The design of state observer for a linear discrete or continuous time uncertain system based on circularly regional pole assignment is studied. Taking use of algebraic Riccati equations and linear matrix inequalities, necessary and sufficient conditions for the existence of the state observer based on circularly regional pole assignment is proposed and the formulation of the gain matrix of the ...

This paper deals with the design of the minimal functional observer for linear time invariant systems. The proposed minimal functional observer estimates the linear function characterizing a state feedback controller law. A synthesis procedure of a minimum observer which has the same dimension as the control vector is then presented and a condition of such observer existence is stated. The effe...

In this paper, we investigate the stabilization of unstable periodic orbits of continuous time chaotic systems usingfuzzy time-delayed controllers. For this aim, we present a control method that can achieve stabilization of an unstableperiodic orbit (UPO) without any knowledge of the system model. Our proposal is attained progressively. First, wecombine the input-to-state linearizing controller...