C.M. Astorga-Zaragoza

Centro Nacional de Investigación y Desarrollo Tecnológico · Department of Electronic Engineering

A H∞ robust adaptive nonlinear observer for state and parameter estimation of a class of Lipschitz nonlinear systems with disturbances is presented in this work. The objective is to estimate parameters and monitor the performance of nonlinear processes with model uncertainties. The behavior of the observer in the presence of disturbances is analyze...

This paper provides a high gain cascade observer for a class of nonlinear systems involving an unknown constant time-delay in the available output measurements. The underlying observer is obtained from a suitable high gain adaptive observer cascaded with a set of adequate predictors. The high gain adaptive observer is essentially used to perform an...

The main objective of this paper is to describe the design of a state feedback controller with integral action based on a proportional-integral observer with a Takagi-Sugeno structure, for trajectory tracking of a rehabilitation routine applied to a knee rehabilitation robot. The stability analysis of the controller is addressed by Lyapunov, a cons...

The main objective of this paper is to describe the design of proportional integral observer (PIO) for Takagi-Sugeno system using the nonlinear sector approach. This observer improves the state estimation due to the integral part. Lyapunov functions are used to analize the stability of the error dynamic of the observer. Stability conditions are obt...

This paper presents a control strategy for plasma glucose regulation in the presence of input with unknown time delay (constant or variable) and meal disturbances in the system. The control scheme proposed is an observer-based state feedback controller. The observer achieves to estimate the state vector even if the control input in the system prese...

En este artículo se presenta el desarrollo de un observador en cadena para la estimación de variables del sistema cardiovascular, el cual, debido a sus características, presenta retardos de medición en la señal de salida, y esto hace que los resultados se obtengan después de un determinado tiempo. El observador propuesto en este trabajo, es capaz d...

The prime aim of this paper is to synthesize a novel disturbance observer based on a cascade structure for a class of Lipschitz nonlinear systems with model uncertainties and output measurements corrupted by external disturbances and multiple time-varying delays. The proposed observation scheme is comprised of a cascade of state observers, where ev...

Este trabajo presenta un control P D basado en un observador de entrada desconocida para controlar el desplazamiento de una estructura tipo edificio. El sistema en lazo cerrado se basa en un control proporcional-derivativo, con el objetivo de reducir los efectos producidos por señales inciertas y mantener el mínimo de desplazamiento. La señal de en...

This paper provides a novel chain observer for a class of Lipschitz nonlinear systems where the nonlinear measured outputs are corrupted by multiple time‐varying long delays. The main contribution is to synthesize a chain observer for a wider class of Lipschitz nonlinear systems with multiple outputs (described by Lipschitz nonlinear functions) wit...

This paper presents a new approach of the continuous‐discrete observer design for a class of uncertain state‐affine non‐linear systems. A high‐gain observer redesign is developed and analysed under insightful conditions. The proposed observer estimates the state vector by using system output measurements with long sampling times. This result is ach...

In this work, a full-state observer is presented for non-uniform observable nonlinear systems in presence of uncertainties and delayed output. The observer has a cascade structure, which is based on a high-gain observer that estimates the delayed state. Subsequently, the cascade structure has m subsystems, each one estimating a part of the total de...

This research presents the study of the corrosion type and the corrosion rate (CR) by signal processing of electrochemical noise (EN) of the Aluminum 6061-T6 (Al 6061-T6). This was exposed to bioethanol obtained from sugarcane (E100), regular gasoline (E0), and bioethanol - gasoline blends in the following proportions; E5 (5\% v/v bioethanol), E10...

This study concerns the observer design for Lipschitz non‐linear descriptor systems. It introduces a new observer structure called a generalised dynamic observer, which is more general than the proportional and proportional–integral observers. The originality of the proposed observer is that it provides additional degrees of freedom in the observer...

In order to extend the flight capabilities and to improve the energy consumption of multirotor UAV, a mission planning strategy dependent on flight endurance estimation is presented. The flight endurance usually represents the time from take-off to landing and it is closely related to energy capabilities of the power source on-board. To execute a m...

An observer-based state and fault estimation method for the cardiovascular system is presented in this work. The approach is based on the use of a four-element windkessel model which is written in a singular state-space form. This particular representation allows to design an observer to estimate the systemic pressure, the aortic blood flow and pos...

This paper proposes a methodology to design a robust observer for Takagi-Sugeno descriptor (TS-D) systems with unmeasurable premise variables and its application to sensor fault detection and isolation. A robust H∞ approach is considered to minimize the effect of uncertainties given by the unmeasurable premise variables, disturbances and sensor noi...

This paper presents the design of a H∞ sliding mode and an unknown input observer for Takagi-Sugeno (TS) systems. Contrary to the common approaches reported in the literature, which considers exact premise variables, this work deals with the problem of inexact measurements of the premise variables. The proposed method is based on a H∞ criteria to b...

This paper presents a state observer for linear systems and Lipschitz nonlinear systems with delayed output measurements, which are affected by a known and bounded time-varying delay. The structure of the proposed observer is based on a proportional-integral term, which allows to compensate the time-varying delay. The observer gain depends on the m...

The objective of this work is to present a Takagi–Sugeno (T-S) controller for temperature regulation in an alcoholic fermentation process. The controller gains are computed using the second Lyapunov method in order to provide closed loop stability. The starting point to design the controller is to select a non-linear mathematical model that represe...

This paper addresses the problem of H∞ observer-based control design for descriptor systems.Anewconcept of dynamical observer-based control is introduced for linear descriptor systems. The main advantage of this concept is the structure of this dynamical observer, which is more general than those founded in the literature. By using this general str...

In this work, a Model-based Prognosis algorithm to predict the Flight Endurance (FE) and the Remaining Mission Time (RMT) for a class of multirotor UAVs powered by Lithium Polymer (Li-Po) batteries is presented. A Safety Voltage Threshold (SVT) in the State of Charge (SoC) of the battery is established before reaching of End of Discharge (EoD), and...

An observer-based method for actuator fault estimation for descriptor systems is presented. An innovative generalised dynamic observer for descriptor systems is synthesised to perform a convergent estimation of actuator faults. The main advantage of this observer is that it can be configured as a simple proportional observer or a proportional-integ...

Nowadays, it exists path planning strategies dedicated to generate trajectories considering different navigation issues in UAV multirotors, such as 3D navigation in cluttered and uncluttered environments, obstacle avoidance, and path re-planning. Such path generators are mainly based on the dynamics associated to position and orientation of the UAV...

In this paper a system of fault detection and isolation (FDI) in sensors of boiler following control of a thermal power plant is presented. The approach is based on a polytopic quasi-Linear Parameter Variant (q-LPV) model derived from a simplified nonlinear model for the boiler-turbine unit representing the dynamic behavior of the pressure in the f...

This paper presents the development of an observer-based stabilization system applied to a riderless bicycle. Because the bicycle dynamics depends on the velocity, a linear parameter varying (LPV) approach is used to design both, the observer to estimate the unmeasurable states and the stabilization controller. The main contribution is to propose t...

This paper deals with the design, construction, and instrumentation of a UAV experimental platform. It is formed by a mechanism and a UAV hexacopter. The mechanism allows the movement around of non-inertial frame of the vehicle while restricting the movement around of inertial frame. The UAV hexacopter is fixed to the mechanism and contains an IMU...

Two observer design approaches for analytical redundancy are presented in this work. The first one is based on the use of Takagi—Sugeno observers, whereas the second method is based on nonlinear high-gain observers. The objective is to conduct a comparative study between these two different approaches for a posteriori application of monitoring proc...

The main contribution of this study is to present a chain observer for Lipschitz non-linear systems when the output measurements are affected by a long known and bounded time-varying delay. The proposed chain observer is composed by a set of observers with similar algorithms. Each observer estimates the state in a time horizon, while the first obse...

This paper proposes a state observer with a cascade structure for a class of nonlinear systems in the presence of uncertainties in the state equations and an arbitrarily long delay in the outputs. The design of the observer is achieved under an appropriate set of assumptions allowing to establish the ultimate boundedness of the observation error. I...

The main contribution of this paper is to present the design and construction of an experimental platform applied to a Planar Vertical Takeoff and Landing (PVTOL) Unmanned Aerial Vehicle (UAV) prototype by considering the rotational and translational motion of the vehicle. The instrumentation of the experimental platform and its parts are presented...

The control reconfigurability measure defines the capability of a control system to allow recovery of performance when faults occur; therefore, it has been intended to be a tool for designing and synthesizing approaches in the fault tolerant control context. Reconfigurability depends on the controllability gramian, also known as the second-order in...

In this work, a Model-based Prognosis algorithm to predict the Flight Endurance (FE) and the Remaining Mission Time (RMT) for a class of multirotor UAVs powered by Lithium Polymer (Li-Po) batteries is presented. A Safety Voltage Threshold (SVT) in the State of Charge (SoC) of the battery is established before reaching of End of Discharge (EoD), and...

This paper proposes a discrete-time robust fault estimation scheme based on an interval Takagi-Sugeno Unknown Input Observer (UIO). The designed observer allows the interval estimation of states and faults by considering that the uncertainty is modelled in a deterministic bounded context. Furthermore, in the observer design, the effect of uncertain...

This paper proposes a methodology to design a Takagi–Sugeno (TS) descriptor observer for a class of TS descriptor systems. Unlike the popular approach that considers measurable premise variables, this paper considers the premise variables depending on unmeasurable vectors, e.g. the system states. This consideration covers a large class of nonlinear...

La mesure ou l’estimation exacte de l’état de charge (State-of-Charge - SoC) d’une batterie Li-Po qui alimente les véhicules volant sans pilote (Unmanned Aerial Vehicle - UAV) durant leurs vols permet de connaitre les limites de leurs missions. Ce papier présente une méthodologie d’estimation de l’état de charge d’une batterie Li-Po à partir d’un f...

In this article, a gain-scheduling control is designed to achieve the stabilization of a riderless bicycle. The main contribution is the design of a stabilizing control system including integral actions based on an observer and its corroboration through experimental results, with the objective of the stabilization of a riderless bicycle toward its...

In this study, a sensor fault detection and isolation (FDI) system is presented for a boiler-turbine unit of a thermal power plant in Mexico. The FDI system is based on a Luenberger-like observer for residual generation. An adaptive threshold for residual evaluation is considered to avoid false alarms. The observer is based on a quasi-linear parame...

In this paper, a state observer is proposed for a class of nonlinear systems in the presence of uncertainties in the state equations and an arbitrarily long delay in the output. The proposed predictor has a cascade structure in such a way that the first system in the cascade allows to estimate the delayed state while each of the remaining ones is a...

Measuring or estimating adequately and accurately the state of charge (SoC) of a Li-Po battery, which powered an UAV during its flight allows to know the limits of the mission that the UAV is developing and to maximize the energy supplied by the battery. In this sense this paper presents a methodology to estimate the state of charge (SoC) of a Li-P...

La presente invención pertenece al campo técnico de control de procesos. Específicamente a la detección y localización de fallas en inyectores de motores de combustión interna de encendido por chispa.

The present work proposes a state observer with a cascade structure for a class of nonlinear systems in the presence of uncertainties in the state equations and an arbitrarily long delay in the output. The first system in the cascade allows to estimate the delayed state while each of the remaining systems is a predictor. Each predictor estimates th...

This work is dedicated to the design of a robust fault detection and tracking controller system for a UAV subject to external disturbances. First, a quadrotor modelled as a Linear Parameter Varying (LPV) system is considered as a target to design and to illustrate the proposed methodologies. In order to perform fault detection and isolation, a robu...

This paper investigates the observation problem for a class of MIMO non uniformly observable systems in the presence of sampled and delayed outputs. A high gain observer is first designed for the delay-free and continuous output measurement case. The observer gain involves the resolution of an appropriate Lyapunov differential equation allowing to...

In this paper, the instrumentation of a riderless bicycle prototype for control purposes is addressed. The proposed instrumentation is based on the mathematical model of a bicycle, in which the dynamical variables correspond to the translational velocity, the angular position of the handlebar and the velocity of the roll angle of its general framew...

The study concerns the design of a new dynamical observer for descriptor systems called as generalised dynamic observer. It generalises the existing results on the proportional observers and proportional integral observers. Conditions for the existence and stability of this observer are given and its design is obtained in terms of a set of linear m...

This paper deals with the application of fractional derivatives in the modeling of electrical circuits RC, RL, RLC, power electronic devices and nonlinear loads, the equations are obtained by replacing the time derivative by fractional derivatives of type Riemann-Liouville, Grünwald-Letnikov, Liouville-Caputo and the fractional definition recently...

In this work a Fault Detection and Isolation (FDI) system is presented. The FDI system detects simultaneous failures in the temperature sensors placed in a distillation column. The distillation column is used to separate an Ethanol-Water binary mixture. The estimated temperature is used as the reference variable in the FDI system. This system is ba...

Se presenta el diseño de un control tolerante a fallas (CTF) activo aplicado al modelo de una bicicleta sin conductor con representación Lineal de Parámetros Variables en el tiempo (LPV) polinomial, afectado por fallas aditivas en los sensores y ruido de medición. Dentro del CTF, el sistema de diagnóstico de fallas opera en base a las estimaciones...

This work presents the simulation results of an active fault tolerant control system on a distillation column. The aim of the control system is to maintain the binary distillation process (ethanol-water) in continuous operation even if both sensors or actuator fault occurs. To develop the active fault tolerant control system, it was designed a faul...

This paper deals with an observer design for Linear Parameter Varying (LPV) systems with high-order time-varying parameter dependency. The proposed design, considered as the main contribution of this paper, corresponds to an observer for the estimation of the actuator fault and the system state, considering measurement noise at the system outputs....

The design of observer for a class of state affine nonlinear systems with discrete time measurements is considered in this paper. A high gain observer is constructed, based on a Lyapunov approach, which allow to obtain comprehensive and insightful conditions for the convergence. The algorithm is applied to a Free-Piston Stirling Engine and validate...

El presenta trabajo propone el diseño de un sistema de diagnóstico y aislamiento de fallas para ser aplicado en un biodigestor anaerobio de lecho de lodos de flujo ascendente (UASB por sus siglas en inglés), primeramente mediante la modelación de su dinámica de la forma lineal de parámetros variables (LPV) Takagi-Sugeno, para representar de forma a...

En este artículo se presenta un observador Takagi-Sugeno (T-S) que estima las variables de programación y estados no medidos de un quadrotor. También se presenta el diseño de dos controladores T-S; un controlador T-S no robusto para estabilizar los ángulos de Euler, y un controlador T-S robusto con el objetivo de estabilizar los ángulos de Euler y...

Este trabajo está dedicado al diseño de un sistema de estabilización de una bicicleta basado en observador mediante el enfoque de modelado de sistemas lineales de parámetros variables (LPV) por colocación de polos. El cálculo de las ganancias del control estabilizante y las ganancias del observador se realiza considerando funciones de Lyapunov que...

This work is dedicated to the design of a robust fault detection system for an anaerobic bioreactor modeled as a Descriptor Linear Parameter Varying system (D-LPV) system with unmeasurable gain scheduling functionss. The main goals are: first, an accurate D-LPV representation of the nonlinear model is obtained by considering the sector nonlinearity...

This paper presents a simple method to synthesize an observer for linear parameter varying (LPV) singular systems, based on a new observer structure named generalized dynamic observer (GDO) for singular systems. The conditions for the existence and stability of the GDO are given in a set of linear matrix inequalities (LMIs). The demonstration of th...

In this paper the implementation and experimental validation of a high-gain reconfigurable observer for estimating the molar composition and temperature in a distillation column with a binary mixture is presented. The observer is composed by a simplified distillation column model and the error calculation and correction of this mathematical model....

This paper describes the design of a virtual instrument (VI) to analyze stability in control systems implemented in LabVIEW virtual instrumentation software. The VI generates a Routh-Hurwitz array for analyzing system stability based on obtaining the characteristic D (s) equation and is able to identify situations where there is a space or row of z...

This paper deals with the problem of robust jointly state and fault estimation (actuator and sensor) observer design for discrete-time Descriptor-Linear Parameter Varying (D-LPV) with unmeasurable gain scheduling. The proposed approach is based on the H∞ synthesis applied to the state estimation error. Sufficient conditions are given by a set of Li...

This paper is concerned with the fault estimation for descriptor systems by using a new concept of dynamical observer. The advantage of this new concept is the observer structure, which is more general than the proportional-integral observer (PIO) and the proportional observer (PO). The main contribution of this work is the simultaneous estimation...

This work presents a model-based fault diagnosis system for double pipe heat exchanger. The fault diagnosis system allows estimating and isolating the fault in one inlet and two outlet temperature sensors of the heat exchanger. The main goal presented in this work; is the possibility of isolating two simultaneous failures in the temperature sensors...

The present paper considers the observers design problem for descriptor systems. The goal is to design a dynamical observer such that the resulting dynamic estimation error is stable while the transfer function from the disturbance input to this error satisfies a prescribed norm level. Conditions for the solvability of this problem are obtained in...

This paper addresses the design of a state estimation and sensor fault detection, isolation and fault estimation observer for descriptor-linear parameter varying (D-LPV) systems. In contrast to where the scheduling functions depend on some measurable time varying state, the proposed method considers the scheduling function depending on an unmeasura...

This work presents a model-based fault diagnosis system for double pipe heat exchanger. The fault diagnosis system allows estimating and isolating the fault in one inlet and two outlet temperature sensors of the heat exchanger. The main goal presented in this work is the possibility of isolating two simultaneous failures in the temperature sensors....

This work presents a model-based fault diagnosis system for double pipe heat exchanger. The fault diagnosis system allows estimating and isolating the fault in one inlet and two outlet temperature sensors of the heat exchanger. The main goal presented in this work is the possibility of isolating two simultaneous failures in the temperature sensors....