A performance comparison of an EKF and a High Gain observer for an electropneumatic positioning system: Simulation and practical results
نویسندگان
چکیده
Abstract: The paper deals with an evaluation and comparison of the estimation performance of two non-linear observers in simulation as well as in a practical application. The objectives are to underline the different parameters synthesis of both observers, the choice of the numerical solver and the difficulty to obtain good performances with an electropneumatic system. A High Gain Observer and an Extended Kalman Filter (EKF) synthesis have been performed with Matlab, compared in the same Simulink model and finally implemented in the system.
منابع مشابه
Robust Tracking Control of Satellite Attitude Using New EKF for Large Rotational Maneuvers
Control of a class of uncertain nonlinear systems, which estimates unavailable state variables, is considered. A new approach for robust tracking control problem of satellite for large rotational maneuvers is presented in this paper. The features of this approach include a strong algorithm to estimate attitude, based on discrete extended Kalman filter combined with a continuous extended Kalman ...
متن کاملPeaking Attenuation in High-Gain Observers Using Adaptive Saturation: Application to a Ball and Wheel System
Despite providing robustness, high-gain observers impose a peaking phenomenon, which may cause instability, on the system states. In this paper, an adaptive saturation is proposed to attenuate the undesirable mentioned phenomenon in high-gain observers. A real-valued and differentiable sigmoid function is considered as the saturating element whose parameters (height and slope) are adaptively tu...
متن کاملDesign Servo System Type and Positioning of Pole Observer Full Rank a Piezoelectric Servo Valve without Integrator
In this paper, the method of modern control approach for the design of controller and observer is used. Other functions such as neural controllers - or fuzzy sliding mode control can be found in this work and the results are compared. First, a dynamic model of the servo valve is intended for the governing equations in state-space form expression are obtained. Due to the system integrator is exp...
متن کاملDesigning a Robust Control Scheme for Robotic Systems with an Adaptive Observer
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...
متن کاملObserver Based Fuzzy Terminal Sliding Mode Controller Design for a Class of Fractional Order Chaotic Nonlinear Systems
This paper presents a new observer based fuzzy terminal sliding mode controller design for a class of fractional order nonlinear systems. Robustness against uncertainty and disturbance, the stability of the close loop system and the convergence of both the tracking and observer errors to zero are the merits of the proposed the observer and the controller. The high gain observer is applied to es...
متن کامل