This paper proposes an improved predictive position control (IPPC) method based on the disturbance observer (DOB) for linear synchronous motor (LSM) to enhance tracking accuracy and robustness against parameter mismatches load disturbance. A soft constraint containing difference between errors their exponential convergence trajectory is developed cost function improve accuracy. Moreover, IPPC e...

In this paper, we incorporate velocity observer design into the virtual decomposition control (VDC) strategy of an n-DoF open chain robotic manipulator. Descending from VDC strategy, proposed is based on decomposing manipulator subsystems, i.e., rigid links and joints, for which decentralized controller-observer implementation can be done locally. Similar to VDC, combined passivity-based, show ...

A collocated observer design approach is addressed, which is based on the continuum backstepping algorithm for partial differential equations (PDEs) with boundary feedback. This observer for a class of hyperbolic PDEs is constructed through an integral form with undetermined kernel functions, combining with the “inverse” Volterra transformation and using the position and velocity of the colloca...

The contraction properties of the Extended Kalman Filter, viewed as a deterministic observer for nonlinear systems, are analyzed. This yields new conditions under which exponential convergence of the state error can be guaranteed. As contraction analysis studies the evolution of an infinitesimal discrepancy between neighboring trajectories, and thus stems from a differential framework, the suff...

Perspective dynamical systems arise in machine vision problems, in which only perspective observation is available, and the essential problem is to estimate the state and /or unknown parameters for a moving rigid body based on the observed information. This paper proposes and studies a Luenberger-type observer for perspective time-varying linear systems. In particular, assuming a given perspect...

For the purpose of estimating the state of a linear time-invariant system with measurements subject to outliers, we propose an observer with a saturated output injection in such a way to mitigate the effect of abnormal and isolated measurement noise on the error dynamics. Stability conditions in both the continuous-time and the discrete-time cases are derived, which ensure global exponential st...

We consider the problem of designing observers to asymptotically estimate the state of a system whose nonlinear time-varying terms satisfy an incremental quadratic inequality that is parameterized by a set of multiplier matrices. Observer design is reduced to solving linear matrix inequalities for the observer gain matrices. The proposed observers guarantee exponential convergence of the state ...

A new approach for the design of robust H∞ filter for a class of discrete-time Lipschitz nonlinear systems with time-varying uncertainties is proposed based on linear matrix inequalities. Thanks to the linearity of the proposed LMIs in both the admissible Lipschitz constant of the system and the disturbance attenuation level, they can be simultaneously optimized through convex optimization. The...

This paper presents improved relaxed stabilization conditions and design procedures of state observer based controllers for continuous nonlinear systems in T-S model representation. First, the T-S model approach for nonlinear systems and some stabilization results are recalled. New stabilization conditions are obtained by relaxing those derived in previous works in this field. The asymptotic an...

A reduced-order nonlinear observer is developed to estimate the distance from a moving camera to a feature point on a static object (i.e., range identification), where full velocity and linear acceleration feedback of the calibrated camera is provided. The contribution of this work is to develop a global exponential range observer which can be used for a larger set of camera motions than existi...