From verified parameter identification to the design of interval observers and cooperativity-preserving controllers an experimental case study /
One of the most important advantages of interval observers and the associated trajectory computation is their capability to provide estimates for a given dynamic system model in terms of guaranteed state bounds which are compatible with measured data subject to bounded uncertainty. However, the inev...
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| Dokumentumtípus: | Cikk |
| Megjelent: |
University of Szeged, Institute of Informatics
Szeged
2020
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| Sorozat: | Acta cybernetica
24 No. 3 |
| Kulcsszavak: | Számítástechnika, Kibernetika, Vezérléstechnika, Robotika |
| Tárgyszavak: | |
| doi: | 10.14232/actacyb.24.3.2020.13 |
| Online Access: | http://acta.bibl.u-szeged.hu/69275 |
| Tartalmi kivonat: | One of the most important advantages of interval observers and the associated trajectory computation is their capability to provide estimates for a given dynamic system model in terms of guaranteed state bounds which are compatible with measured data subject to bounded uncertainty. However, the inevitable requirement for being able to produce such verified bounds is the knowledge about a dynamic system model in which possible uncertainties and inaccuracies are themselves represented by guaranteed bounds. For that reason, classical point-valued parameter identification schemes are often not sufficient or should, at least, be handled with sufficient care if safety critical applications are of interest. This paper provides an application-oriented description of the major steps leading from a control-oriented system model with an associated interval-valued parameter and disturbance identification to a verified design of interval observers which provide the basis for the development and implementation of cooperativity-preserving feedback controllers. Such combined control and observer structures allow for forecasting guaranteed lower and upper state bounds that can be determined by solving initial value problems for crisp-parameter models. As such, they replace the significantly more demanding task of computing tubes of reachable states by means of general-purpose interval methods. The corresponding computational steps for the cooperativity-preserving control and observer synthesis are described and visualized for the temperature control of a laboratory-scale test rig available at the Chair of Mechatronics at the University of Rostock. |
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| Terjedelem/Fizikai jellemzők: | 509-537 |
| ISSN: | 0324-721X |