Control of variable speed variable pitch wind turbine based on a disturbance observer

Science.gov (United States)

Ren, Haijun; Lei, Xin

2017-11-01

In this paper, a novel sliding mode controller based on disturbance observer (DOB) to optimize the efficiency of variable speed variable pitch (VSVP) wind turbine is developed and analyzed. Due to the highly nonlinearity of the VSVP system, the model is linearly processed to obtain the state space model of the system. Then, a conventional sliding mode controller is designed and a DOB is added to estimate wind speed. The proposed control strategy can successfully deal with the random nature of wind speed, the nonlinearity of VSVP system, the uncertainty of parameters and external disturbance. Via adding the observer to the sliding mode controller, it can greatly reduce the chattering produced by the sliding mode switching gain. The simulation results show that the proposed control system has the effectiveness and robustness.

Distributed Optimization for a Class of Nonlinear Multiagent Systems With Disturbance Rejection.

Science.gov (United States)

Wang, Xinghu; Hong, Yiguang; Ji, Haibo

2016-07-01

The paper studies the distributed optimization problem for a class of nonlinear multiagent systems in the presence of external disturbances. To solve the problem, we need to achieve the optimal multiagent consensus based on local cost function information and neighboring information and meanwhile to reject local disturbance signals modeled by an exogenous system. With convex analysis and the internal model approach, we propose a distributed optimization controller for heterogeneous and nonlinear agents in the form of continuous-time minimum-phase systems with unity relative degree. We prove that the proposed design can solve the exact optimization problem with rejecting disturbances.

Digital-Control-Based Approximation of Optimal Wave Disturbances Attenuation for Nonlinear Offshore Platforms

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Xiao-Fang Zhong

2017-12-01

Full Text Available The irregular wave disturbance attenuation problem for jacket-type offshore platforms involving the nonlinear characteristics is studied. The main contribution is that a digital-control-based approximation of optimal wave disturbances attenuation controller (AOWDAC is proposed based on iteration control theory, which consists of a feedback item of offshore state, a feedforward item of wave force and a nonlinear compensated component with iterative sequences. More specifically, by discussing the discrete model of nonlinear offshore platform subject to wave forces generated from the Joint North Sea Wave Project (JONSWAP wave spectrum and linearized wave theory, the original wave disturbances attenuation problem is formulated as the nonlinear two-point-boundary-value (TPBV problem. By introducing two vector sequences of system states and nonlinear compensated item, the solution of introduced nonlinear TPBV problem is obtained. Then, a numerical algorithm is designed to realize the feasibility of AOWDAC based on the deviation of performance index between the adjacent iteration processes. Finally, applied the proposed AOWDAC to a jacket-type offshore platform in Bohai Bay, the vibration amplitudes of the displacement and the velocity, and the required energy consumption can be reduced significantly.

Observation and simulation of the ionosphere disturbance waves triggered by rocket exhausts

Science.gov (United States)

Lin, Charles C. H.; Chen, Chia-Hung; Matsumura, Mitsuru; Lin, Jia-Ting; Kakinami, Yoshihiro

2017-08-01

Observations and theoretical modeling of the ionospheric disturbance waves generated by rocket launches are investigated. During the rocket passage, time rate change of total electron content (rTEC) enhancement with the V-shape shock wave signature is commonly observed, followed by acoustic wave disturbances and region of negative rTEC centered along the trajectory. Ten to fifteen min after the rocket passage, delayed disturbance waves appeared and propagated along direction normal to the V-shape wavefronts. These observation features appeared most prominently in the 2016 North Korea rocket launch showing a very distinct V-shape rTEC enhancement over enormous areas along the southeast flight trajectory despite that it was also appeared in the 2009 North Korea rocket launch with the eastward flight trajectory. Numerical simulations using the physical-based nonlinear and nonhydrostatic coupled model of neutral atmosphere and ionosphere reproduce promised results in qualitative agreement with the characteristics of ionospheric disturbance waves observed in the 2009 event by considering the released energy of the rocket exhaust as the disturbance source. Simulations reproduce the shock wave signature of electron density enhancement, acoustic wave disturbances, the electron density depletion due to the rocket-induced pressure bulge, and the delayed disturbance waves. The pressure bulge results in outward neutral wind flows carrying neutrals and plasma away from it and leading to electron density depletions. Simulations further show, for the first time, that the delayed disturbance waves are produced by the surface reflection of the earlier arrival acoustic wave disturbances.

Predictive Sliding Mode Control for Attitude Tracking of Hypersonic Vehicles Using Fuzzy Disturbance Observer

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Xianlei Cheng

2015-01-01

Full Text Available We propose a predictive sliding mode control (PSMC scheme for attitude control of hypersonic vehicle (HV with system uncertainties and external disturbances based on an improved fuzzy disturbance observer (IFDO. First, for a class of uncertain affine nonlinear systems with system uncertainties and external disturbances, we propose a predictive sliding mode control based on fuzzy disturbance observer (FDO-PSMC, which is used to estimate the composite disturbances containing system uncertainties and external disturbances. Afterward, to enhance the composite disturbances rejection performance, an improved FDO-PSMC (IFDO-PSMC is proposed by incorporating a hyperbolic tangent function with FDO to compensate for the approximate error of FDO. Finally, considering the actuator dynamics, the proposed IFDO-PSMC is applied to attitude control system design for HV to track the guidance commands with high precision and strong robustness. Simulation results demonstrate the effectiveness and robustness of the proposed attitude control scheme.

Terminal Sliding Mode Control with Unidirectional Auxiliary Surfaces for Hypersonic Vehicles Based on Adaptive Disturbance Observer

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Naibao He

2015-01-01

Full Text Available A novel flight control scheme is proposed using the terminal sliding mode technique, unidirectional auxiliary surfaces and the disturbance observer model. These proposed dynamic attitude control systems can improve control performance of hypersonic vehicles despite uncertainties and external disturbances. The terminal attractor is employed to improve the convergence rate associated with the critical damping characteristics problem noted in short-period motions of hypersonic vehicles. The proposed robust attitude control scheme uses a dynamic terminal sliding mode with unidirectional auxiliary surfaces. The nonlinear disturbance observer is designed to estimate system uncertainties and external disturbances. The output of the disturbance observer aids the robust adaptive control scheme and improves robust attitude control performance. Finally, simulation results are presented to illustrate the effectiveness of the proposed terminal sliding mode with unidirectional auxiliary surfaces.

Variable Structure Disturbance Rejection Control for Nonlinear Uncertain Systems with State and Control Delays via Optimal Sliding Mode Surface Approach

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Jing Lei

2013-01-01

Full Text Available The paper considers the problem of variable structure control for nonlinear systems with uncertainty and time delays under persistent disturbance by using the optimal sliding mode surface approach. Through functional transformation, the original time-delay system is transformed into a delay-free one. The approximating sequence method is applied to solve the nonlinear optimal sliding mode surface problem which is reduced to a linear two-point boundary value problem of approximating sequences. The optimal sliding mode surface is obtained from the convergent solutions by solving a Riccati equation, a Sylvester equation, and the state and adjoint vector differential equations of approximating sequences. Then, the variable structure disturbance rejection control is presented by adopting an exponential trending law, where the state and control memory terms are designed to compensate the state and control delays, a feedforward control term is designed to reject the disturbance, and an adjoint compensator is designed to compensate the effects generated by the nonlinearity and the uncertainty. Furthermore, an observer is constructed to make the feedforward term physically realizable, and thus the dynamical observer-based dynamical variable structure disturbance rejection control law is produced. Finally, simulations are demonstrated to verify the effectiveness of the presented controller and the simplicity of the proposed approach.

Fault Detection for Nonlinear Process With Deterministic Disturbances: A Just-In-Time Learning Based Data Driven Method.

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Yin, Shen; Gao, Huijun; Qiu, Jianbin; Kaynak, Okyay

2017-11-01

Data-driven fault detection plays an important role in industrial systems due to its applicability in case of unknown physical models. In fault detection, disturbances must be taken into account as an inherent characteristic of processes. Nevertheless, fault detection for nonlinear processes with deterministic disturbances still receive little attention, especially in data-driven field. To solve this problem, a just-in-time learning-based data-driven (JITL-DD) fault detection method for nonlinear processes with deterministic disturbances is proposed in this paper. JITL-DD employs JITL scheme for process description with local model structures to cope with processes dynamics and nonlinearity. The proposed method provides a data-driven fault detection solution for nonlinear processes with deterministic disturbances, and owns inherent online adaptation and high accuracy of fault detection. Two nonlinear systems, i.e., a numerical example and a sewage treatment process benchmark, are employed to show the effectiveness of the proposed method.

Composite Intelligent Learning Control of Strict-Feedback Systems With Disturbance.

Science.gov (United States)

Xu, Bin; Sun, Fuchun

2018-02-01

This paper addresses the dynamic surface control of uncertain nonlinear systems on the basis of composite intelligent learning and disturbance observer in presence of unknown system nonlinearity and time-varying disturbance. The serial-parallel estimation model with intelligent approximation and disturbance estimation is built to obtain the prediction error and in this way the composite law for weights updating is constructed. The nonlinear disturbance observer is developed using intelligent approximation information while the disturbance estimation is guaranteed to converge to a bounded compact set. The highlight is that different from previous work directly toward asymptotic stability, the transparency of the intelligent approximation and disturbance estimation is included in the control scheme. The uniformly ultimate boundedness stability is analyzed via Lyapunov method. Through simulation verification, the composite intelligent learning with disturbance observer can efficiently estimate the effect caused by system nonlinearity and disturbance while the proposed approach obtains better performance with higher accuracy.

Dynamic surface tracking controller design for a constrained hypersonic vehicle based on disturbance observer

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Fang Wang

2017-05-01

Full Text Available The tracking control problem of a flexible air-breathing hypersonic vehicle subjects to aerodynamic parameter uncertainty and input constraint is investigated by combining nonlinear disturbance observer and dynamic surface control. To design controller simply, a control-oriented model is firstly derived and divided into two subsystems, velocity subsystem and altitude subsystem based on the engineering backgrounds of flexible air-breathing hypersonic vehicle. In every subsystem, compounded disturbances are included to consider aerodynamic uncertainty and the effect of the flexible modes. Then, disturbance observer is not only used to handle the compounded disturbance but also to handle the input constraint, where the estimation error converges to a random small region through appropriately choosing the observer parameters. To sequel, the disturbance observer–based robust control scheme and the disturbance observer-based dynamic surface control scheme are developed for the velocity subsystem and altitude subsystem, respectively. Besides, novel filters are designed to alleviate the problem of “explosion of terms” induced by backstepping method. On the basis of Lyapunov stability theory, the presented control scheme can assure that tracking error converges to an arbitrarily small neighborhood around zero by rigorous theoretical analysis. At last, simulation result shows the effectiveness of the presented control method.

Adaptive fuzzy observer-based stabilization of a class of uncertain time-delayed chaotic systems with actuator nonlinearities

International Nuclear Information System (INIS)

Shahnazi, Reza; Haghani, Adel; Jeinsch, Torsten

2015-01-01

An observer-based output feedback adaptive fuzzy controller is proposed to stabilize a class of uncertain chaotic systems with unknown time-varying time delays, unknown actuator nonlinearities and unknown external disturbances. The actuator nonlinearity can be backlash-like hysteresis or dead-zone. Based on universal approximation property of fuzzy systems the unknown nonlinear functions are approximated by fuzzy systems, where the consequent parts of fuzzy rules are tuned with adaptive schemes. The proposed method does not need the availability of the states and an observer based output feedback approach is proposed to estimate the states. To have more robustness and at the same time to alleviate chattering an adaptive discontinuous structure is suggested. Semi-global asymptotic stability of the overall system is ensured by proposing a suitable Lyapunov–Krasovskii functional candidate. The approach is applied to stabilize the time-delayed Lorenz chaotic system with uncertain dynamics amid significant disturbances. Analysis of simulations reveals the effectiveness of the proposed method in terms of coping well with the modeling uncertainties, nonlinearities in actuators, unknown time-varying time-delays and unknown external disturbances while maintaining asymptotic convergence

Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter

DEFF Research Database (Denmark)

Bisgaard, Morten; la Cour-Harbo, Anders; A. Danapalasingam, Kumeresan

2010-01-01

for the purpose. The model is inverted for the calculation of rotor collective and cyclic pitch angles given the wind disturbance. The control strategy is then applied on a small helicopter in a controlled wind environment and flight tests demonstrates the effectiveness and advantage of the feedforward controller.......This paper presents the design and verification of a model based nonlinear feedforward controller for wind disturbance rejection on autonomous helicopters. The feedforward control is based on a helicopter model that is derived using a number of carefully chosen simplifications to make it suitable...

Nonlinear Robust Disturbance Attenuation Control Design for Static Var Compensator in Power System

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Ting Liu

2013-01-01

Full Text Available The problem of designing an adaptive backstepping controller for nonlinear static var compensator (SVC system is addressed adopting two perspectives. First, instead of artificially assuming an upper bound or inequality scaling, the minimax theory is used to treat the external unknown disturbances. The system is insensitive to effects of large disturbances due to taking into account the worst case disturbance. Second, a parameter projection mechanism is introduced in adaptive control to force the parameter estimate within a prior specified interval. The proposed controller handles the nonlinear parameterization without compromising control smoothness and at the same time the parameter estimate speed is improved and the robustness of system is strengthened. Considering the short-circuit ground fault and mechanical power perturbation, a simulation study is carried out. The results show the effectiveness of the proposed control method.

Transformation of CLF to ISS-CLF for Nonlinear Systems with Disturbance and Construction of Nonlinear Robust Controller with L2 Gain Performance

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Keizo Okano

2014-01-01

Full Text Available A new nonlinear control law for a class of nonlinear systems with disturbance is proposed. A control law is designed by transforming control Lyapunov function (CLF to input-to-state stability control Lyapunov function (ISS-CLF. The transformed CLF satisfies a Hamilton-Jacobi-Isaacs (HJI equation. The feedback system by the proposed control law has characteristics of L2 gain. Finally, it is shown by a numerical example that the proposed control law makes a controller by feedback linearization robust against disturbance.

Finite-Time Stabilization for a Class of Nonlinear Differential-Algebraic Systems Subject to Disturbance

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Xiaohui Mo

2017-01-01

Full Text Available In this paper, finite-time stabilization problem for a class of nonlinear differential-algebraic systems (NDASs subject to external disturbance is investigated via a composite control manner. A composite finite-time controller (CFTC is proposed with a three-stage design procedure. Firstly, based on the adding a power integrator technique, a finite-time control (FTC law is explicitly designed for the nominal NDAS by only using differential variables. Then, by using homogeneous system theory, a continuous finite-time disturbance observer (CFTDO is constructed to estimate the disturbance generated by an exogenous system. Finally, a composite controller which consists of a feedforward compensation part based on CFTDO and the obtained FTC law is proposed. Rigorous analysis demonstrates that not only the proposed composite controller can stabilize the NDAS in finite time, but also the proposed control scheme exhibits nominal performance recovery property. Simulation examples are provided to illustrate the effectiveness of the proposed control approach.

Integral sliding mode-based formation control of multiple unertain robots via nonlinear disturbane observer

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Dianwei Qian

2016-11-01

Full Text Available This article proposes a control scheme for formation of maneuvers of a team of mobile robots. The control scheme integrates the integral sliding mode control method with the nonlinear disturbance observer technique. The leader–follower formation dynamics suffer from uncertainties originated from the individual robots. The uncertainties challenge the formation control of such robots. Assuming that the uncertainties are unknown but bounded, an nonlinear disturbance observer-based observer is utilized to approximate them. The observer outputs feed on an integral sliding mode control-based controller. The controller and observer are integrated into the control scheme to realize formation maneuvers despite uncertainties. The formation stability is analyzed by means of the Lyapunov’s theorem. In the sense of Lyapunov, not only the convergence of the approximation errors is guaranteed but also such a control scheme can asymptotically stabilize the formation system. Compared to the results by the sole integral sliding mode control, some simulations are presented to demonstrate the feasibility and performance of the control scheme.

Nonlinear Robust Observer-Based Fault Detection for Networked Suspension Control System of Maglev Train

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Yun Li

2013-01-01

Full Text Available A fault detection approach based on nonlinear robust observer is designed for the networked suspension control system of Maglev train with random induced time delay. First, considering random bounded time-delay and external disturbance, the nonlinear model of the networked suspension control system is established. Then, a nonlinear robust observer is designed using the input of the suspension gap. And the estimate error is proved to be bounded with arbitrary precision by adopting an appropriate parameter. When sensor faults happen, the residual between the real states and the observer outputs indicates which kind of sensor failures occurs. Finally, simulation results using the actual parameters of CMS-04 maglev train indicate that the proposed method is effective for maglev train.

Performance-oriented asymptotic tracking control of hydraulic systems with radial basis function network disturbance observer

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Jian Hu

2016-05-01

Full Text Available Uncertainties, including parametric uncertainties and uncertain nonlinearities, always exist in positioning servo systems driven by a hydraulic actuator, which would degrade their tracking accuracy. In this article, an integrated control scheme, which combines adaptive robust control together with radial basis function neural network–based disturbance observer, is proposed for high-accuracy motion control of hydraulic systems. Not only parametric uncertainties but also uncertain nonlinearities (i.e. nonlinear friction, external disturbances, and/or unmodeled dynamics are taken into consideration in the proposed controller. The above uncertainties are compensated, respectively, by adaptive control and radial basis function neural network, which are ultimately integrated together by applying feedforward compensation technique, in which the global stabilization of the controller is ensured via a robust feedback path. A new kind of parameter and weight adaptation law is designed on the basis of Lyapunov stability theory. Furthermore, the proposed controller obtains an expected steady performance even if modeling uncertainties exist, and extensive simulation results in various working conditions have proven the high performance of the proposed control scheme.

Active Disturbance Rejection Approach for Robust Fault-Tolerant Control via Observer Assisted Sliding Mode Control

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John Cortés-Romero

2013-01-01

Full Text Available This work proposes an active disturbance rejection approach for the establishment of a sliding mode control strategy in fault-tolerant operations. The core of the proposed active disturbance rejection assistance is a Generalized Proportional Integral (GPI observer which is in charge of the active estimation of lumped nonlinear endogenous and exogenous disturbance inputs related to the creation of local sliding regimes with limited control authority. Possibilities are explored for the GPI observer assisted sliding mode control in fault-tolerant schemes. Convincing improvements are presented with respect to classical sliding mode control strategies. As a collateral advantage, the observer-based control architecture offers the possibility of chattering reduction given that a significant part of the control signal is of the continuous type. The case study considers a classical DC motor control affected by actuator faults, parametric failures, and perturbations. Experimental results and comparisons with other established sliding mode controller design methodologies, which validate the proposed approach, are provided.

Chaotic and steady state behaviour of a nonlinear controlled gyro subjected to harmonic disturbances

International Nuclear Information System (INIS)

Perez Polo, Manuel F.; Perez Molina, Manuel

2007-01-01

Chaotic and steady state motions of a nonlinear controlled gimbals suspension gyro used to stabilize an external body are studied in this paper. The equations of the gyro without nonlinear control are deduced from the Euler-Lagrange equations by using the nutation theory. The equations of the system show that a cyclic variable appears. Its elimination allows us to find an auxiliary nonlinear system from which it is possible to deduce a nonlinear control law in order to obtain a desired equilibrium point. From the analysis of the nonlinear control law it is possible to show that due to both harmonic disturbances in the platform of the gyro and in the body to stabilize, regular and chaotic motions can appear. The chaotic motion is researched by means of chaos maps, bifurcation diagrams, sensitivity to initial conditions, Lyapunov exponents and Fourier spectrum density. The transition from chaotic to steady state motion by eliminating the harmonic disturbances from the modification of the initial nonlinear control law is also researched. Next, the paper shows how to use the chaotic motion in order to obtain small input signals so that the desired equilibrium state of the gyro can be reached. The developed methodology and its compared performance are evaluated through analytical methods and numerical simulations

Chaotic and steady state behaviour of a nonlinear controlled gyro subjected to harmonic disturbances

Energy Technology Data Exchange (ETDEWEB)

Perez Polo, Manuel F. [Department of Fisica, Ingenieria de Sistemas y Teoria de la Senal, Universidad de Alicante, Escuela Politecnica Superior, Campus de San Vicente, 03071 Alicante (Spain)]. E-mail: manolo@dfists.ua.es; Perez Molina, Manuel [Facultad de Ciencias Matematicas, Universidad Nacional de Educacion a Distancia, UNED, C/Boyero 12-1A, Alicante 03007 (Spain)]. E-mail: ma_perez_m@hotmail.com

2007-07-15

Chaotic and steady state motions of a nonlinear controlled gimbals suspension gyro used to stabilize an external body are studied in this paper. The equations of the gyro without nonlinear control are deduced from the Euler-Lagrange equations by using the nutation theory. The equations of the system show that a cyclic variable appears. Its elimination allows us to find an auxiliary nonlinear system from which it is possible to deduce a nonlinear control law in order to obtain a desired equilibrium point. From the analysis of the nonlinear control law it is possible to show that due to both harmonic disturbances in the platform of the gyro and in the body to stabilize, regular and chaotic motions can appear. The chaotic motion is researched by means of chaos maps, bifurcation diagrams, sensitivity to initial conditions, Lyapunov exponents and Fourier spectrum density. The transition from chaotic to steady state motion by eliminating the harmonic disturbances from the modification of the initial nonlinear control law is also researched. Next, the paper shows how to use the chaotic motion in order to obtain small input signals so that the desired equilibrium state of the gyro can be reached. The developed methodology and its compared performance are evaluated through analytical methods and numerical simulations.

Do Quercus ilex woodlands undergo abrupt non-linear functional changes in response to human disturbance along a climatic gradient?

Science.gov (United States)

Bochet, Esther; García-Fayos, Patricio; José Molina, Maria; Moreno de las Heras, Mariano; Espigares, Tíscar; Nicolau, Jose Manuel; Monleon, Vicente

2017-04-01

Theoretical models predict that drylands are particularly prone to suffer critical transitions with abrupt non-linear changes in their structure and functions as a result of the existing complex interactions between climatic fluctuations and human disturbances. However, so far, few studies provide empirical data to validate these models. We aim at determining how holm oak (Quercus ilex) woodlands undergo changes in their functions in response to human disturbance along an aridity gradient (from semi-arid to sub-humid conditions), in eastern Spain. For that purpose, we used (a) remote-sensing estimations of precipitation-use-efficiency (PUE) from enhanced vegetation index (EVI) observations performed in 231x231 m plots of the Moderate Resolution Imaging Spectroradiometer (MODIS); (b) biological and chemical soil parameter determinations (extracellular soil enzyme activity, soil respiration, nutrient cycling processes) from soil sampled in the same plots; (c) vegetation parameter determinations (ratio of functional groups) from vegetation surveys performed in the same plots. We analyzed and compared the shape of the functional change (in terms of PUE and soil and vegetation parameters) in response to human disturbance intensity for our holm oak sites along the aridity gradient. Overall, our results evidenced important differences in the shape of the functional change in response to human disturbance between climatic conditions. Semi-arid areas experienced a more accelerated non-linear decrease with an increasing disturbance intensity than sub-humid ones. The proportion of functional groups (herbaceous vs. woody cover) played a relevant role in the shape of the functional response of the holm oak sites to human disturbance.

Robust outer synchronization between two nonlinear complex networks with parametric disturbances and mixed time-varying delays

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Zhang, Chuan; Wang, Xingyuan; Luo, Chao; Li, Junqiu; Wang, Chunpeng

2018-03-01

In this paper, we focus on the robust outer synchronization problem between two nonlinear complex networks with parametric disturbances and mixed time-varying delays. Firstly, a general complex network model is proposed. Besides the nonlinear couplings, the network model in this paper can possess parametric disturbances, internal time-varying delay, discrete time-varying delay and distributed time-varying delay. Then, according to the robust control strategy, linear matrix inequality and Lyapunov stability theory, several outer synchronization protocols are strictly derived. Simple linear matrix controllers are designed to driver the response network synchronize to the drive network. Additionally, our results can be applied on the complex networks without parametric disturbances. Finally, by utilizing the delayed Lorenz chaotic system as the dynamics of all nodes, simulation examples are given to demonstrate the effectiveness of our theoretical results.

Distributed ESO based cooperative tracking control for high-order nonlinear multiagent systems with lumped disturbance and application in multi flight simulators systems.

Science.gov (United States)

Cong, Zhang

2018-03-01

Based on extended state observer, a novel and practical design method is developed to solve the distributed cooperative tracking problem of higher-order nonlinear multiagent systems with lumped disturbance in a fixed communication topology directed graph. The proposed method is designed to guarantee all the follower nodes ultimately and uniformly converge to the leader node with bounded residual errors. The leader node, modeled as a higher-order non-autonomous nonlinear system, acts as a command generator giving commands only to a small portion of the networked follower nodes. Extended state observer is used to estimate the local states and lumped disturbance of each follower node. Moreover, each distributed controller can work independently only requiring the relative states and/or the estimated relative states information between itself and its neighbors. Finally an engineering application of multi flight simulators systems is demonstrated to test and verify the effectiveness of the proposed algorithm. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Disturbance observer-based L1 robust tracking control for hypersonic vehicles with T-S disturbance modeling

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Yang Yi

2016-11-01

Full Text Available This article concerns a disturbance observer-based L1 robust anti-disturbance tracking algorithm for the longitudinal models of hypersonic flight vehicles with different kinds of unknown disturbances. On one hand, by applying T-S fuzzy models to represent those modeled disturbances, a disturbance observer relying on T-S disturbance models can be constructed to track the dynamics of exogenous disturbances. On the other hand, L1 index is introduced to analyze the attenuation performance of disturbance for those unmodeled disturbances. By utilizing the existing convex optimization algorithm, a disturbance observer-based proportional-integral-controlled input is proposed such that the stability of hypersonic flight vehicles can be ensured and the tracking error for velocity and altitude in hypersonic flight vehicle models can converge to equilibrium point. Furthermore, the satisfactory disturbance rejection and attenuation with L1 index can be obtained simultaneously. Simulation results on hypersonic flight vehicle models can reflect the feasibility and effectiveness of the proposed control algorithm.

Clutch pressure estimation for a power-split hybrid transmission using nonlinear robust observer

Science.gov (United States)

Zhou, Bin; Zhang, Jianwu; Gao, Ji; Yu, Haisheng; Liu, Dong

2018-06-01

For a power-split hybrid transmission, using the brake clutch to realize the transition from electric drive mode to hybrid drive mode is an available strategy. Since the pressure information of the brake clutch is essential for the mode transition control, this research designs a nonlinear robust reduced-order observer to estimate the brake clutch pressure. Model uncertainties or disturbances are considered as additional inputs, thus the observer is designed in order that the error dynamics is input-to-state stable. The nonlinear characteristics of the system are expressed as the lookup tables in the observer. Moreover, the gain matrix of the observer is solved by two optimization procedures under the constraints of the linear matrix inequalities. The proposed observer is validated by offline simulation and online test, the results have shown that the observer achieves significant performance during the mode transition, as the estimation error is within a reasonable range, more importantly, it is asymptotically stable.

Finite-Time Reentry Attitude Control Using Time-Varying Sliding Mode and Disturbance Observer

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Xuzhong Wu

2015-01-01

Full Text Available This paper presents the finite-time attitude control problem for reentry vehicle with redundant actuators in consideration of planet uncertainties and external disturbances. Firstly, feedback linearization technique is used to cancel the nonlinearities of equations of motion to construct a basic mode for attitude controller. Secondly, two kinds of time-varying sliding mode control methods with disturbance observer are integrated with the basic mode in order to enhance the control performance and system robustness. One method is designed based on boundary layer technique and the other is a novel second-order sliding model control method. The finite-time stability analyses of both resultant closed-loop systems are carried out. Furthermore, after attitude controller produces the torque commands, an optimization control allocation approach is introduced to allocate them into aerodynamic surface deflections and on-off reaction control system thrusts. Finally, the numerical simulation results demonstrate that both of the time-varying sliding mode control methods are robust to uncertainties and disturbances without chattering phenomenon. Moreover, the proposed second-order sliding mode control method possesses better control accuracy.

Development of a novel disturbance observer based fractional order PD controller for a gun control system.

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Gao, Qiang; Zheng, Liang; Chen, Jilin; Wang, Li; Hou, Yuanlong

2014-01-01

Motion control of gun barrels is an ongoing topic for the development of gun control equipment (GCE) with excellent performances. In this paper, a novel disturbance observer (DOB) based fractional order PD (FOPD) control strategy is proposed for the GCE. By adopting the DOB, the control system behaves as if it were the nominal closed-loop system in the absence of disturbances and uncertainties. The optimal control parameters of the FOPD are determined from the loop-shaping perspective, and the Q-filter of the DOB is deliberately designed with consideration of system robustness. The linear frame of the proposed control system will enable the analysis process more convenient. The disturbance rejection properties and the tracking performances of the control system are investigated by both numerical and experimental tests, the results demonstrate that the proposed DOB based FOPD control system is of more robustness, and it is much more suitable for the gun control system with strong nonlinearity and disturbance.

Active disturbance rejection attitude control for a hypersonic reentry vehicle with actuator saturation

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Hongjiu Yang

2017-05-01

Full Text Available In this article, nonlinear uncertainty has been investigated for a hypersonic reentry vehicle subject to actuator saturation via active disturbance rejection control technology. A nonlinear extended state observer is designed to estimate “total disturbances,” which is compensated with a linear controller. Both convergence of the nonlinear extended state observer and stabilization of the closed-loop system are studied in this article. Some simulation results are given to illustrate the effectiveness of the proposed method.

Data-Driven Zero-Sum Neuro-Optimal Control for a Class of Continuous-Time Unknown Nonlinear Systems With Disturbance Using ADP.

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Wei, Qinglai; Song, Ruizhuo; Yan, Pengfei

2016-02-01

This paper is concerned with a new data-driven zero-sum neuro-optimal control problem for continuous-time unknown nonlinear systems with disturbance. According to the input-output data of the nonlinear system, an effective recurrent neural network is introduced to reconstruct the dynamics of the nonlinear system. Considering the system disturbance as a control input, a two-player zero-sum optimal control problem is established. Adaptive dynamic programming (ADP) is developed to obtain the optimal control under the worst case of the disturbance. Three single-layer neural networks, including one critic and two action networks, are employed to approximate the performance index function, the optimal control law, and the disturbance, respectively, for facilitating the implementation of the ADP method. Convergence properties of the ADP method are developed to show that the system state will converge to a finite neighborhood of the equilibrium. The weight matrices of the critic and the two action networks are also convergent to finite neighborhoods of their optimal ones. Finally, the simulation results will show the effectiveness of the developed data-driven ADP methods.

Nonlinear modeling and stability analysis of hydro-turbine governing system with sloping ceiling tailrace tunnel under load disturbance

International Nuclear Information System (INIS)

Guo, Wencheng; Yang, Jiandong; Wang, Mingjiang; Lai, Xu

2015-01-01

Highlights: • Novel nonlinear mathematical model of hydro-turbine governing system is proposed. • Hopf bifurcation analysis on the governing system is conducted. • Stability of the system under load disturbance is studied. • Influence of four factors on stability is analyzed. • Optimization methods of improving system stability are put forward. - Abstract: In order to overcome the problem of nonlinear dynamics of hydro-turbine governing system with sloping ceiling tailrace tunnel, which is caused by the interface movement of the free surface-pressurized flow in the tailrace tunnel, and the difficulty of analyzing the stability of system, this paper uses the Hopf bifurcation theory to study the stability of hydro-turbine governing system of hydropower station with sloping ceiling tailrace tunnel. Firstly, a novel and rational nonlinear mathematical model of the hydro-turbine governing system is proposed. This model contains the dynamic equation of pipeline system which can accurately describe the motion characteristics of the interface of free surface-pressurized flow in sloping ceiling tailrace tunnel. According to the nonlinear mathematical model, the existence and direction of Hopf bifurcation of the nonlinear dynamic system are analyzed. Furthermore, the algebraic criterion of the occurrence of Hopf bifurcation is derived. Then the stability domain and bifurcation diagram of hydro-turbine governing system are drawn by the algebraic criterion, and the characteristics of stability under different state parameters are investigated. Finally, the influence of step load value, ceiling slope angle and section form of tailrace tunnel and water depth at the interface in tailrace tunnel on stability are analyzed based on stable domain. The results indicate that: The Hopf bifurcation of hydro-turbine governing system with sloping ceiling tailrace tunnel is supercritical. The phase space trajectories of characteristic variables stabilize at the equilibrium points

Wideband Motion Control by Position and Acceleration Input Based Disturbance Observer

Science.gov (United States)

Irie, Kouhei; Katsura, Seiichiro; Ohishi, Kiyoshi

The disturbance observer can observe and suppress the disturbance torque within its bandwidth. Recent motion systems begin to spread in the society and they are required to have ability to contact with unknown environment. Such a haptic motion requires much wider bandwidth. However, since the conventional disturbance observer attains the acceleration response by the second order derivative of position response, the bandwidth is limited due to the derivative noise. This paper proposes a novel structure of a disturbance observer. The proposed disturbance observer uses an acceleration sensor for enlargement of bandwidth. Generally, the bandwidth of an acceleration sensor is from 1Hz to more than 1kHz. To cover DC range, the conventional position sensor based disturbance observer is integrated. Thus, the performance of the proposed Position and Acceleration input based disturbance observer (PADO) is superior to the conventional one. The PADO is applied to position control (infinity stiffness) and force control (zero stiffness). The numerical and experimental results show viability of the proposed method.

Nonlinear Control of Marine Surface Vessels

Science.gov (United States)

Das, Swarup; Talole, S. E.

2018-03-01

In the present study, a robust yaw control law design derived from nonlinear extended state observer (NESO) based nonlinear state error feedback controller (NSEFC) in conjunction with nonlinear tracking differentiator (NTD) for marine surface vessels is presented. As marine vessel operates in an environment where significant uncertainties and disturbances are present, an NESO is used to estimate the effect of the uncertainties and disturbances along with the plant states leading to a robust design through disturbance estimation and compensation. Convergence of NESO and NTD is demonstrated. The notable feature of the formulation is that to achieve robustness, accurate plant model or any characterization of the uncertainties and disturbances is not needed. Efficacy of the design is illustrated by simulation. Further, performance of the proposed design is compared with some existing controllers to showcase the effectiveness of the proposed design.

Robust Backstepping Control of Wing Rock Using Disturbance Observer

Directory of Open Access Journals (Sweden)

Dawei Wu

2017-02-01

Full Text Available Wing rock is a highly nonlinear phenomenon when the aircraft suffers undesired roll-dominated oscillatory at high angle of attack (AOA. Considering the strong nonlinear and unsteady aerodynamic characteristics, an uncertain multi-input and multi-output (MIMO nonlinear wing rock model is studied, and system uncertainties, unsteady aerodynamic disturbances and externaldisturbancesareconsideredinthedesignofwingrockcontrollaw. Tohandletheproblemof multipledisturbances,arobustcontrolschemeisproposedbasedontheextendedstateobserver(ESO and the radial basis function neural network (RBFNN technique. Considering that the effectiveness of actuators are greatly decreased at high AOA, the input saturation problem is also handled by constructing a corresponding auxiliary system. Based on the improved ESO and the auxiliary system, a robust backstepping control law is proposed for the wing rock control. In addition, the dynamic surface control (DSC technique is introduced to avoid the tedious computations of time derivatives for the virtual control laws in the backstepping method. The stability of the closed-loop system is guaranteed via rigorously Lyapunov analysis. Finally, simulation results are presented to illustrate the effectiveness of the ESO and the proposed wing rock control approach.

Real time simulation of nonlinear generalized predictive control for wind energy conversion system with nonlinear observer.

Science.gov (United States)

Ouari, Kamel; Rekioua, Toufik; Ouhrouche, Mohand

2014-01-01

In order to make a wind power generation truly cost-effective and reliable, an advanced control techniques must be used. In this paper, we develop a new control strategy, using nonlinear generalized predictive control (NGPC) approach, for DFIG-based wind turbine. The proposed control law is based on two points: NGPC-based torque-current control loop generating the rotor reference voltage and NGPC-based speed control loop that provides the torque reference. In order to enhance the robustness of the controller, a disturbance observer is designed to estimate the aerodynamic torque which is considered as an unknown perturbation. Finally, a real-time simulation is carried out to illustrate the performance of the proposed controller. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Real-Time Fault Detection Approach for Nonlinear Systems and its Asynchronous T-S Fuzzy Observer-Based Implementation.

Science.gov (United States)

Li, Linlin; Ding, Steven X; Qiu, Jianbin; Yang, Ying

2017-02-01

This paper is concerned with a real-time observer-based fault detection (FD) approach for a general type of nonlinear systems in the presence of external disturbances. To this end, in the first part of this paper, we deal with the definition and the design condition for an L ∞ / L 2 type of nonlinear observer-based FD systems. This analytical framework is fundamental for the development of real-time nonlinear FD systems with the aid of some well-established techniques. In the second part, we address the integrated design of the L ∞ / L 2 observer-based FD systems by applying Takagi-Sugeno (T-S) fuzzy dynamic modeling technique as the solution tool. This fuzzy observer-based FD approach is developed via piecewise Lyapunov functions, and can be applied to the case that the premise variables of the FD system is nonsynchronous with the premise variables of the fuzzy model of the plant. In the end, a case study on the laboratory setup of three-tank system is given to show the efficiency of the proposed results.

Disturbance phenomena in VLF standard radio wave observation

International Nuclear Information System (INIS)

Muraoka, Yoshikazu

1977-01-01

Storm aftereffect, i.e. the phase disturbance after initiation of a magnetic storm has been revealed in the observation of VLF standard radio waves. In VLF long distance propagation at middle latitudes (L - 3), the phase disturbance for several days after the initiation of a magnetic storm is due to electron fall from the radiation belt. This has been confirmed by the comparison with electron flux detected by an artificial satellite. The correlations between VLF phase disturbance and magnetism activity or ionosphere absorption are described. The relation between winter anomaly and phase disturbance is also discussed. (Mori, K.)

Global optimum spacecraft orbit control subject to bounded thrust in presence of nonlinear and random disturbances in a low earth orbit

Directory of Open Access Journals (Sweden)

Tamer Mekky Ahmed Habib

2012-06-01

Full Text Available The primary objective of this work is to develop an effective spacecraft orbit control algorithm suitable for spacecraft orbital maneuver and/or rendezvous. The actual governing equation of a spacecraft orbiting the earth is merely nonlinear. Disturbance forces resulting from aerodynamic drag, oblateness of the earth till the fourth order (i.e. J4, and random disturbances are modeled for the initial and target orbits. These disturbances increase the complexity of nonlinear governing equations. Global optimum solutions of the control algorithm parameters are determined throughout real coded genetic algorithms such that the steady state difference between the actual and desired trajectories is minimized. The resulting solutions are constrained to avoid spacecraft collision with the surface of the earth taking into account limited thrust budget.

Parameterized Disturbance Observer Based Controller to Reduce Cyclic Loads of Wind Turbine

Directory of Open Access Journals (Sweden)

Raja M. Imran

2018-05-01

Full Text Available This paper is concerned with bump-less transfer of parameterized disturbance observer based controller with individual pitch control strategy to reduce cyclic loads of wind turbine in full load operation. Cyclic loads are generated due to wind shear and tower shadow effects. Multivariable disturbance observer based linear controllers are designed with objective to reduce output power fluctuation, tower oscillation and drive-train torsion using optimal control theory. Linear parameterized controllers are designed by using a smooth scheduling mechanism between the controllers. The proposed parameterized controller with individual pitch was tested on nonlinear Fatigue, Aerodynamics, Structures, and Turbulence (FAST code model of National Renewable Energy Laboratory (NREL’s 5 MW wind turbine. The closed-loop system performance was assessed by comparing the simulation results of proposed controller with a fixed gain and parameterized controller with collective pitch for full load operation of wind turbine. Simulations are performed with step wind to see the behavior of the system with wind shear and tower shadow effects. Then, turbulent wind is applied to see the smooth transition of the controllers. It can be concluded from the results that the proposed parameterized control shows smooth transition from one controller to another controller. Moreover, 3p and 6p harmonics are well mitigated as compared to fixed gain DOBC and parameterized DOBC with collective pitch.

Design of Nonlinear Robust Rotor Current Controller for DFIG Based on Terminal Sliding Mode Control and Extended State Observer

Directory of Open Access Journals (Sweden)

Guowei Cai

2014-01-01

Full Text Available As to strong nonlinearity of doubly fed induction generators (DFIG and uncertainty of its model, a novel rotor current controller with nonlinearity and robustness is proposed to enhance fault ride-though (FRT capacities of grid-connected DFIG. Firstly, the model error, external disturbances, and the uncertain factors were estimated by constructing extended state observer (ESO so as to achieve linearization model, which is compensated dynamically from nonlinear model. And then rotor current controller of DFIG is designed by using terminal sliding mode variable structure control theory (TSMC. The controller has superior dynamic performance and strong robustness. The simulation results show that the proposed control approach is effective.

Optimal Control of Nonlinear Hydraulic Networks in the Presence of Disturbance

DEFF Research Database (Denmark)

Tahavori, Maryamsadat; Leth, John-Josef; Kallesøe, Carsten

2014-01-01

Water leakage is an important component of water loss. Many methods have emerged from urban water supply systems for leakage control, but it still remains a challenge in many countries. Pressure management is an effective way to reduce the leakage in a system. It can also reduce the power...... consumption. To this end, an optimal control strategy is proposed in this paper. In the water supply system model, the hydraulic resistance of the valve is estimated by the real data from a water supply system and it is considered to be a disturbance. The method which is used to solve the nonlinear optimal...

Growth and wall-transpiration control of nonlinear unsteady Görtler vortices forced by free-stream vortical disturbances

Science.gov (United States)

Marensi, Elena; Ricco, Pierre

2017-11-01

The generation, nonlinear evolution, and wall-transpiration control of unsteady Görtler vortices in an incompressible boundary layer over a concave plate is studied theoretically and numerically. Görtler rolls are initiated and driven by free-stream vortical perturbations of which only the low-frequency components are considered because they penetrate the most into the boundary layer. The formation and development of the disturbances are governed by the nonlinear unsteady boundary-region equations with the centrifugal force included. These equations are subject to appropriate initial and outer boundary conditions, which account for the influence of the upstream and free-stream forcing in a rigorous and mutually consistent manner. Numerical solutions show that the stabilizing effect on nonlinearity, which also occurs in flat-plate boundary layers, is significantly enhanced in the presence of centrifugal forces. Sufficiently downstream, the nonlinear vortices excited at different free-stream turbulence intensities Tu saturate at the same level, proving that the initial amplitude of the forcing becomes unimportant. At low Tu, the disturbance exhibits a quasi-exponential growth with the growth rate being intensified for more curved plates and for lower frequencies. At higher Tu, in the typical range of turbomachinery applications, the Görtler vortices do not undergo a modal stage as nonlinearity saturates rapidly, and the wall curvature does not affect the boundary-layer response. Good quantitative agreement with data from direct numerical simulations and experiments is obtained. Steady spanwise-uniform and spanwise-modulated zero-mass-flow-rate wall transpiration is shown to attenuate the growth of the Görtler vortices significantly. A novel modified version of the Fukagata-Iwamoto-Kasagi identity, used for the first time to study a transitional flow, reveals which terms in the streamwise momentum balance are mostly affected by the wall transpiration, thus

Incremental Nonlinear Dynamic Inversion and Multihole Pressure Probes for Disturbance Rejection Control of Fixed-wing Micro Air Vehicles

NARCIS (Netherlands)

Smeur, E.J.J.; Remes, B.D.W.; de Wagter, C.; Chu, Q.; J.-M. Moschetta G. Hattenberger, H. de Plinval

2017-01-01

Maintaining stable flight during high turbulence intensities is challenging for fixed-wing micro air vehicles (MAV). Two methods are proposed
to improve the disturbance rejection performance of the MAV: incremental nonlinear dynamic inversion (INDI) control and phaseadvanced pitch probes. INDI

Robust Speed Tracking Control for a Micro Turbine as a Distributed Energy Resource via Feedback Domination and Disturbance Observer

Directory of Open Access Journals (Sweden)

Ancheng Xu

2017-01-01

Full Text Available Micro turbine (MT is characterized with complex dynamics, parameter uncertainties, and variable working conditions. In this paper, a novel robust controller is investigated for a single-shaft micro turbine as a distributed energy resource by integrating a feedback domination control technique and a feedforward disturbance compensation. An active estimation process of the mismatched disturbances is firstly enabled by constructing a disturbance observer. Secondly, we adopt a feedback domination technique, rather than popularly used feedback linearization methods, to handle the system nonlinearities. In an explicit way, the composite controllers are then derived by recursive design based on Lyapunov theory while a global input-to-state stability can be guaranteed. Abundant comparison simulation results are provided to demonstrate the effectiveness of the proposed scheme, which not only perform an improved closed-loop control performance comparing to all existing results, but also render a simple control law which will ease its practical implementation.

Observation of an ionospheric disturbance caused by a gamma-ray burst

International Nuclear Information System (INIS)

Fishman, G.J.; Inan, U.S.

1988-01-01

We report a first observation of an ionospheric disturbance from a gamma-ray burst. The burst, GB830801, occurred at 22:14:18 UT on 1 August 1983 and was one of the strongest ever observed. The total fluence was 2 x 10 -3 erg cm -2 , most of which occurred in the first 4 s of the burst. Simultaneously, a change was observed in the amplitude of a very-low-frequency (VLF) radio signal from a transmitter in Rugby, England, monitored at Palmer Station, Antarctica, indicative of an ionospheric disturbance. Weaker disturbances were also recorded at the same receiving site on signals from VLF stations in Annapolis, Maryland and Lualualei, Hawaii. The times of the burst and the disturbances are coincident within the 10-s resolution of the VLF recording system. (author)

Observer enhanced control for spin-stabilized tethered formation in earth orbit

Science.gov (United States)

Guang, Zhai; Yuyang, Li; Liang, Bin

2018-04-01

This paper addresses the issues relevant to control of spin-stabilized tethered formation in circular orbit. Due to the dynamic complexities and nonlinear perturbations, it is challenging to promote the control precision for the formation deployment and maintenance. In this work, the formation dynamics are derived with considering the spinning rate of the central body, then major attention is dedicated to develop the nonlinear disturbance observer. To achieve better control performance, the observer-enhanced controller is designed by incorporating the disturbance observer into the control loop, benefits from the disturbance compensation are demonstrated, and also, the dependences of the disturbance observer performance on some important parameters are theoretically and numerically analyzed.

Discrete- and finite-bandwidth-frequency distributions in nonlinear stability applications

Science.gov (United States)

Kuehl, Joseph J.

2017-02-01

A new "wave packet" formulation of the parabolized stability equations method is presented. This method accounts for the influence of finite-bandwidth-frequency distributions on nonlinear stability calculations. The methodology is motivated by convolution integrals and is found to appropriately represent nonlinear energy transfer between primary modes and harmonics, in particular nonlinear feedback, via a "nonlinear coupling coefficient." It is found that traditional discrete mode formulations overestimate nonlinear feedback by approximately 70%. This results in smaller maximum disturbance amplitudes than those observed experimentally. The new formulation corrects this overestimation, accounts for the generation of side lobes responsible for spectral broadening, and results in disturbance representation more consistent with the experiment than traditional formulations. A Mach 6 flared-cone example is presented.

Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

Science.gov (United States)

Yao, Jianyong

2018-06-01

Hydraulic servo system plays a significant role in industries, and usually acts as a core point in control and power transmission. Although linear theory-based control methods have been well established, advanced controller design methods for hydraulic servo system to achieve high performance is still an unending pursuit along with the development of modern industry. Essential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, due to benefit from prior knowledge of the servo valve controlled hydraulic system. In this paper, a discussion for challenges in model-based nonlinear control, latest developments and brief perspectives of hydraulic servo systems are presented: Modelling uncertainty in hydraulic system is a major challenge, which includes parametric uncertainty and time-varying disturbance; some specific requirements also arise ad hoc difficulties such as nonlinear friction during low velocity tracking, severe disturbance, periodic disturbance, etc.; to handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control, state and disturbance observation, backstepping design and so on, are proposed and integrated, theoretical analysis and lots of applications reveal their powerful capability to solve pertinent problems; and at the end, some perspectives and associated research topics (measurement noise, constraints, inner valve dynamics, input nonlinearity, etc.) in nonlinear hydraulic servo control are briefly explored and discussed.

Disturbance Observer for Lateral Trajectory Tracking Control for Autonomous and Cooperative Driving

OpenAIRE

Christian Rathgeber; Franz Winkler; Dirk Odenthal; Steffen Muller

2015-01-01

In this contribution a structure for high level lateral vehicle tracking control based on the disturbance observer is presented. The structure is characterized by stationary compensating side forces disturbances and guaranteeing a cooperative behavior at the same time. Driver inputs are not compensated by the disturbance observer. Moreover the structure is especially useful as it robustly stabilizes the vehicle. Therefore the parameters are selected using the Parameter Space Approach. The imp...

Robust Fault Tolerant Control for a Class of Time-Delay Systems with Multiple Disturbances

Directory of Open Access Journals (Sweden)

Songyin Cao

2013-01-01

Full Text Available A robust fault tolerant control (FTC approach is addressed for a class of nonlinear systems with time delay, actuator faults, and multiple disturbances. The first part of the multiple disturbances is supposed to be an uncertain modeled disturbance and the second one represents a norm-bounded variable. First, a composite observer is designed to estimate the uncertain modeled disturbance and actuator fault simultaneously. Then, an FTC strategy consisting of disturbance observer based control (DOBC, fault accommodation, and a mixed H2/H∞ controller is constructed to reconfigure the considered systems with disturbance rejection and attenuation performance. Finally, simulations for a flight control system are given to show the efficiency of the proposed approach.

Composite control for raymond mill based on model predictive control and disturbance observer

Directory of Open Access Journals (Sweden)

Dan Niu

2016-03-01

Full Text Available In the raymond mill grinding process, precise control of operating load is vital for the high product quality. However, strong external disturbances, such as variations of ore size and ore hardness, usually cause great performance degradation. It is not easy to control the current of raymond mill constant. Several control strategies have been proposed. However, most of them (such as proportional–integral–derivative and model predictive control reject disturbances just through feedback regulation, which may lead to poor control performance in the presence of strong disturbances. For improving disturbance rejection, a control method based on model predictive control and disturbance observer is put forward in this article. The scheme employs disturbance observer as feedforward compensation and model predictive control controller as feedback regulation. The test results illustrate that compared with model predictive control method, the proposed disturbance observer–model predictive control method can obtain significant superiority in disturbance rejection, such as shorter settling time and smaller peak overshoot under strong disturbances.

Design and Experiment of Nonlinear Observer with Adaptive Gains for Battery State of Charge Estimation

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Linhui Zhao

2017-12-01

Full Text Available State of charge (SOC is an important evaluation index for lithium-ion batteries (LIBs in electric vehicles (EVs. This paper proposes a nonlinear observer with a new adaptive gain structure for SOC estimation based on a second-order RC model. It is able to dynamically adjust the gains and obtain a better balance between convergence speed and estimation accuracy with less computational time. A sufficient condition is derived to guarantee the uniform asymptotic stability of the observer, and its robustness with respect to disturbances and uncertainties is analyzed with the help of input-to-state stability (ISS theory. A selection guide of the observer gains in practical application is presented. The estimation accuracy and convergence rate of the observer are evaluated and compared with those of extended Kalman filter (EKF based on multi-temperature datasets from two different types of LIB cells. The robustness against different disturbances and uncertainties that may appear in a real vehicle is validated and discussed in detail. The experimental results show that the proposed observer is capable of achieving better performance with less computational time in comparison to EKF for different types of LIB cells under various working conditions. The observer is also capable of estimating SOC accurately for real life conditions according to the validation results of datasets from a battery management system (BMS in an EV battery pack. Furthermore, the observer is simple enough, and is suitable for implementation on embedded hardware for LIB cells of EVs.

Observers for Systems with Nonlinearities Satisfying an Incremental Quadratic Inequality

Science.gov (United States)

Acikmese, Ahmet Behcet; Corless, Martin

2004-01-01

We consider the problem of state estimation for nonlinear time-varying systems whose nonlinearities satisfy an incremental quadratic inequality. These observer results unifies earlier results in the literature; and extend it to some additional classes of nonlinearities. Observers are presented which guarantee that the state estimation error exponentially converges to zero. Observer design involves solving linear matrix inequalities for the observer gain matrices. Results are illustrated by application to a simple model of an underwater.

Robust iterative learning contouring controller with disturbance observer for machine tool feed drives.

Science.gov (United States)

Simba, Kenneth Renny; Bui, Ba Dinh; Msukwa, Mathew Renny; Uchiyama, Naoki

2018-04-01

In feed drive systems, particularly machine tools, a contour error is more significant than the individual axial tracking errors from the view point of enhancing precision in manufacturing and production systems. The contour error must be within the permissible tolerance of given products. In machining complex or sharp-corner products, large contour errors occur mainly owing to discontinuous trajectories and the existence of nonlinear uncertainties. Therefore, it is indispensable to design robust controllers that can enhance the tracking ability of feed drive systems. In this study, an iterative learning contouring controller consisting of a classical Proportional-Derivative (PD) controller and disturbance observer is proposed. The proposed controller was evaluated experimentally by using a typical sharp-corner trajectory, and its performance was compared with that of conventional controllers. The results revealed that the maximum contour error can be reduced by about 37% on average. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Fault Diagnosis for Actuators in a Class of Nonlinear Systems Based on an Adaptive Fault Detection Observer

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Runxia Guo

2016-01-01

Full Text Available The problem of actuators’ fault diagnosis is pursued for a class of nonlinear control systems that are affected by bounded measurement noise and external disturbances. A novel fault diagnosis algorithm has been proposed by combining the idea of adaptive control theory and the approach of fault detection observer. The asymptotical stability of the fault detection observer is guaranteed by setting the adaptive adjusting law of the unknown fault vector. A theoretically rigorous proof of asymptotical stability has been given. Under the condition that random measurement noise generated by the sensors of control systems and external disturbances exist simultaneously, the designed fault diagnosis algorithm is able to successfully give specific estimated values of state variables and failures rather than just giving a simple fault warning. Moreover, the proposed algorithm is very simple and concise and is easy to be applied to practical engineering. Numerical experiments are carried out to evaluate the performance of the fault diagnosis algorithm. Experimental results show that the proposed diagnostic strategy has a satisfactory estimation effect.

Dynamic Surface Adaptive Robust Control of Unmanned Marine Vehicles with Disturbance Observer

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Pengchao Zhang

2018-01-01

Full Text Available This paper presents a dynamic surface adaptive robust control method with disturbance observer for unmanned marine vehicles (UMV. It uses adaptive law to estimate and compensate the disturbance observer error. Dynamic surface is introduced to solve the “differential explosion” caused by the virtual control derivation in traditional backstepping method. The final controlled system is proved to be globally uniformly bounded based on Lyapunov stability theory. Simulation results illustrate the effectiveness of the proposed controller, which can realize the three-dimensional trajectory tracking for UMV with the systematic uncertainty and time-varying disturbances.

ℋ∞ Adaptive observer for nonlinear fractional-order systems

KAUST Repository

Ndoye, Ibrahima

2016-06-23

In this paper, an adaptive observer is proposed for the joint estimation of states and parameters of a fractional nonlinear system with external perturbations. The convergence of the proposed observer is derived in terms of linear matrix inequalities (LMIs) by using an indirect Lyapunov method.The proposed ℋ∞ adaptive observer is also robust against Lipschitz additive nonlinear uncertainty. The performance of the observer is illustrated through some examples including the chaotic Lorenz and Lü\\'s systems. © 2016 John Wiley & Sons, Ltd.

Stabilization of Hypersonic Boundary Layers by Linear and Nonlinear Optimal Perturbations

Science.gov (United States)

Paredes, Pedro; Choudhari, Meelan M.; Li, Fei

2017-01-01

The effect of stationary, finite-amplitude, linear and nonlinear optimal perturbations on the modal disturbance growth in a Mach 6 axisymmetric flow over a 7 deg. half-angle cone with 0:126 mm nose radius and 0:305 m length is investigated. The freestream parameters (M = 6, Re(exp 1) = 18 x 10(exp. 6) /m) are selected to match the flow conditions of a previous experiment in the VKI H3 hypersonic tunnel. Plane-marching parabolized stability equations are used in conjunction with a partial-differential equation based planar eigenvalue analysis to characterize the boundary layer instability in the presence of azimuthally periodic streaks. The streaks are observed to stabilize nominally planar Mack mode instabilities, although oblique Mack mode and first-mode disturbances are destabilized. Experimentally measured transition onset in the absence of any streaks correlates with an amplification factor of N = 6 for the planar Mack modes. For high enough streak amplitudes, the transition threshold of N = 6 is not reached by the Mack mode instabilities within the length of the cone; however, subharmonic first-mode instabilities, which are destabilized by the presence of the streaks, do reach N = 6 near the end of the cone. The highest stabilization is observed at streak amplitudes of approximately 20 percent of the freestream velocity. Because the use of initial disturbance profiles based on linear optimal growth theory may yield suboptimal control in the context of nonlinear streaks, the computational predictions are extended to nonlinear optimal growth theory. Results show that by using nonlinearly optimal perturbation leads to slightly enhanced stabilization of plane Mack mode disturbances as well as reduced destabilization of subharmonic first-mode disturbances.

Approximate optimal tracking control for near-surface AUVs with wave disturbances

Science.gov (United States)

Yang, Qing; Su, Hao; Tang, Gongyou

2016-10-01

This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles (AUVs) in the presence of wave disturbances. An approximate optimal tracking control (AOTC) approach is proposed. Firstly, a six-degrees-of-freedom (six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV's system is represented by the exosystem. Then, the coupled two-point boundary value (TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit (REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm.

Synchronizing Spatiotemporal Chaos via a Composite Disturbance Observer-Based Sliding Mode Control

Directory of Open Access Journals (Sweden)

Congyan Chen

2014-01-01

Full Text Available The sliding mode control schemes are investigated to synchronize two spatiotemporal chaotic systems, which are two arrays of a large number of coupled chaotic oscillators. Firstly, sliding mode manifolds with the desired performance are designed. The asymptotic convergence to the origin of the synchronization errors is also proved. However, the terms from parameter fluctuations in equivalent controls are usually impossible to be measured directly. So we regard them as lumped disturbances, but, for practical application, it is difficult to obtain the upper bound of lumped disturbances in advance which often results in a conservative sliding mode control law with large control effort, causing a large amount of chattering. To reduce the chattering and improve the performance of the system, a disturbance observer is designed to estimate the lumped disturbances. A composite synchronization controller that consists of a sliding mode feedback part and a feedforward compensation part based on disturbance observer is developed. The numerical simulation results are presented to show the effectiveness of the proposed methods.

Nonlinear modelling and dynamic stability analysis of a flexible Cartesian robotic manipulator with base disturbance and terminal load

Directory of Open Access Journals (Sweden)

J. Ju

2017-07-01

Full Text Available The flexible Cartesian robotic manipulator (FCRM is coming into widespread application in industry. Because of the feeble rigidity and heavy deflection, the dynamic characteristics of the FCRM are easily influenced by external disturbances which mainly concentrate in the driving end and the load end. Thus, with the influence of driving base disturbance and terminal load considered, the motion differential equations of the FCRM under the plane motion of the base are constructed, which contain the forced and non-linear parametric excitations originated from the disturbances of base lateral and axial motion respectively. Considering the relationship between the coefficients of the motion differential equations and the mode shapes of the flexible manipulator, the analytic expressions of the mode shapes with terminal load are deduced. Then, based on multiple scales method and rectangular coordinate transformation, the average equations of the FCRM are derived to analyze the influence mechanism of base disturbance and terminal load on the system parametric vibration stability. The results show that terminal load mainly affects the node locations of mode shapes and mode frequencies of the FCRM, and the axial motion disturbance of the driving base introduces parametric excitation while the lateral motion disturbance generates forced excitation for the transverse vibration model of the FCRM. Furthermore, with the increase of the base excitation acceleration and terminal load, the parametric vibration instability region of the FCRM increases significantly. This study will be helpful for the dynamic characteristics analysis and vibration control of the FCRM.

Robust Consensus of Multi-Agent Systems with Uncertain Exogenous Disturbances

International Nuclear Information System (INIS)

Yang Hong-Yong; Guo Lei; Han Chao

2011-01-01

The objective of this paper is to investigate the consensus of the multi-agent systems with nonlinear coupling function and external disturbances. The disturbance includes two parts, one part is supposed to be generated by an exogenous system, which is not required to be neutrally stable as in the output regulation theory, the other part is the modeling uncertainty in the exogenous disturbance system. A novel composite disturbance observer based control (DOBC) and H ∞ control scheme is presented so that the disturbance with the exogenous system can be estimated and compensated and the consensus of the multi-agent systems with fixed and switching graph can be reached by using H ∞ control law. Simulations demonstrate the advantages of the proposed DOBC and H ∞ control scheme. (interdisciplinary physics and related areas of science and technology)

Linear and nonlinear development of controlled disturbances in the supersonic boundary layer on a swept wing at Mach 2.5

International Nuclear Information System (INIS)

Kolosov, G L; Kosinov, A D

2016-01-01

Experimental data on the linear and nonlinear wave train development in 3D supersonic boundary layer over a 45° swept-wing at Mach number 2.5 are presented. Travelling artificial disturbances were introduced in the boundary layer by periodical glow discharge at frequencies 10 and 20 kHz. The spatial-temporal and spectral-wave characteristics of the wave train of unstable disturbances in the linear region are obtained. It is shown that the additional peaks in β '-spectra arise for both subharmonic and fundamental frequencies. The experiments indicate the presence of subharmonic resonance mechanism in 3D boundary layer at Mach number 2.5. (paper)

Sliding mode based trajectory linearization control for hypersonic reentry vehicle via extended disturbance observer.

Science.gov (United States)

Xingling, Shao; Honglun, Wang

2014-11-01

This paper proposes a novel hybrid control framework by combing observer-based sliding mode control (SMC) with trajectory linearization control (TLC) for hypersonic reentry vehicle (HRV) attitude tracking problem. First, fewer control consumption is achieved using nonlinear tracking differentiator (TD) in the attitude loop. Second, a novel SMC that employs extended disturbance observer (EDO) to counteract the effect of uncertainties using a new sliding surface which includes the estimation error is integrated to address the tracking error stabilization issues in the attitude and angular rate loop, respectively. In addition, new results associated with EDO are examined in terms of dynamic response and noise-tolerant performance, as well as estimation accuracy. The key feature of the proposed compound control approach is that chattering free tracking performance with high accuracy can be ensured for HRV in the presence of multiple uncertainties under control constraints. Based on finite time convergence stability theory, the stability of the resulting closed-loop system is well established. Also, comparisons and extensive simulation results are presented to demonstrate the effectiveness of the control strategy. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Disturbance observer-based adaptive sliding mode hybrid projective synchronisation of identical fractional-order financial systems

Science.gov (United States)

Khan, Ayub; Tyagi, Arti

2018-05-01

In this paper, we have studied the hybrid projective synchronisation for incommensurate, integer and commensurate fractional-order financial systems with unknown disturbance. To tackle the problem of unknown bounded disturbance, fractional-order disturbance observer is designed to approximate the unknown disturbance. Further, we have introduced simple sliding mode surface and designed adaptive sliding mode controllers incorporating with the designed fractional-order disturbance observer to achieve a bounded hybrid projective synchronisation between two identical fractional-order financial model with different initial conditions. It is shown that the slave system with disturbance can be synchronised with the projection of the master system generated through state transformation. Simulation results are presented to ensure the validity and effectiveness of the proposed sliding mode control scheme in the presence of external bounded unknown disturbance. Also, synchronisation error for commensurate, integer and incommensurate fractional-order financial systems is studied in numerical simulation.

Temporal and spatial evolution characteristics of disturbance wave in a hypersonic boundary layer due to single-frequency entropy disturbance.

Science.gov (United States)

Wang, Zhenqing; Tang, Xiaojun; Lv, Hongqing; Shi, Jianqiang

2014-01-01

By using a high-order accurate finite difference scheme, direct numerical simulation of hypersonic flow over an 8° half-wedge-angle blunt wedge under freestream single-frequency entropy disturbance is conducted; the generation and the temporal and spatial nonlinear evolution of boundary layer disturbance waves are investigated. Results show that, under the freestream single-frequency entropy disturbance, the entropy state of boundary layer is changed sharply and the disturbance waves within a certain frequency range are induced in the boundary layer. Furthermore, the amplitudes of disturbance waves in the period phase are larger than that in the response phase and ablation phase and the frequency range in the boundary layer in the period phase is narrower than that in these two phases. In addition, the mode competition, dominant mode transformation, and disturbance energy transfer exist among different modes both in temporal and in spatial evolution. The mode competition changes the characteristics of nonlinear evolution of the unstable waves in the boundary layer. The development of the most unstable mode along streamwise relies more on the motivation of disturbance waves in the upstream than that of other modes on this motivation.

Automatic Stabilization of a Riderless Bicycle using the Active Disturbance Rejection Control Approach

Directory of Open Access Journals (Sweden)

Mauro Baquero-Suárez

2017-12-01

Full Text Available This work proposes an ADRC (Active Disturbance Rejection Control strategy by disturbance extended observers to stabilize a moving riderless bicycle with a variant forward speed. Although the bicycle has an unstable and non-linear dynamics when in its upright position, which can be modeled as a LPV (Linear-Parameter-Varying system that depends on the forward speed, a simplified time-invariant and lumped-parameter model, with an nominal constant forward speed is used in the controller design. ADRC scheme groups discrepancies between the simplified model and the plant, with external disturbances into an equivalent additive unified disturbance signal at input, which is estimated via the observer and rejected through a linear control law. The effectiveness of this strategy is validated by a co-simulation between ADAMS and MATLAB, which exhibits a high performance and robustness in a virtual dynamic model of the bicycle, submitted to severe external disturbances and parameter variations.

Disturbance Observer-Based Backstepping Control of PMSM for the Mine Traction Electric Locomotive

Directory of Open Access Journals (Sweden)

Jiande Yan

2018-01-01

Full Text Available For the Permanent Magnet Synchronous Motor (PMSM control system of the Mine Traction Electric Locomotive (MTEL, the fluctuation of the load will lead to the resonance of the velocity of the MTEL. In addition, the speed sensor is easy to be damaged due to the moisture, dust, and vibration. To solve the above problems, a disturbance observer-based (DOB backstepping control of PMSM for the MTEL is proposed in this paper. First, a full-dimensional Luenberger observer for PMSM is designed and the asymptotically stability of the observer is proved. Next, through the designing of the virtual control input that includes the reconstruction disturbances and using backstepping control strategy, the DOB controller is proposed. The obtained controller can achieve high precision speed tracking and disturbance rejection. Finally, the effectiveness and feasibility of the designed system are verified by Matlab simulation and experiment results.

Non-linear feedback control of the p53 protein-mdm2 inhibitor system using the derivative-free non-linear Kalman filter.

Science.gov (United States)

Rigatos, Gerasimos G

2016-06-01

It is proven that the model of the p53-mdm2 protein synthesis loop is a differentially flat one and using a diffeomorphism (change of state variables) that is proposed by differential flatness theory it is shown that the protein synthesis model can be transformed into the canonical (Brunovsky) form. This enables the design of a feedback control law that maintains the concentration of the p53 protein at the desirable levels. To estimate the non-measurable elements of the state vector describing the p53-mdm2 system dynamics, the derivative-free non-linear Kalman filter is used. Moreover, to compensate for modelling uncertainties and external disturbances that affect the p53-mdm2 system, the derivative-free non-linear Kalman filter is re-designed as a disturbance observer. The derivative-free non-linear Kalman filter consists of the Kalman filter recursion applied on the linearised equivalent of the protein synthesis model together with an inverse transformation based on differential flatness theory that enables to retrieve estimates for the state variables of the initial non-linear model. The proposed non-linear feedback control and perturbations compensation method for the p53-mdm2 system can result in more efficient chemotherapy schemes where the infusion of medication will be better administered.

Ionic ring current during magnetic disturbances according to observations at geostationary orbit

International Nuclear Information System (INIS)

Vlasova, N.A.; Kovtyukh, A.S.; Panasyuk, M.I.; Sosnovets, Eh.N.; Grafodanskij, O.S.; Islyaev, Sh.N.; Kozlov, A.G.

1988-01-01

Experimental data on variations of H + , (N,O) 2+ and (C,N,O) 4+ flows acquired at communication geostationary satellite GORIZONT (1985-07A) during and after weak magnetic disturbances (with amplitudes of D st -variations which are less than a few tens of nT) are analyzed. Dynamics of ion relative content is investigated. Change of ring current ionic composition within ∼ 50-120 keV/c energy range characterized by the increase of relative content of heavy ions of both solar and ionospheric origin was observed after two weak geomagnetic disturbances on 19-20.02 and 07.03.1985. Examples of disturbances where H + ions and (N,O) 2+ ionospheric ions are the main components of the injected ring current are presented along with the disturbances of such type

Complex state variable- and disturbance observer-based current controllers for AC drives

DEFF Research Database (Denmark)

Dal, Mehmet; Teodorescu, Remus; Blaabjerg, Frede

2013-01-01

In vector-controlled AC drives, the design of current controller is usually based on a machine model defined in synchronous frame coordinate, where the drive performance may be degraded by both the variation of the machine parameters and the cross-coupling between the d- and q-axes components...... of the stator current. In order to improve the current control performance an alternative current control strategy was proposed previously aiming to avoid the undesired cross-coupling and non-linearities between the state variables. These effects are assumed as disturbances arisen in the closed-loop path...... of the parameter and the cross-coupling effect. Moreover, it provides a better performance, smooth and low noisy operation with respect to the complex variable controller....

Study of ionospheric disturbances over the China mid- and low-latitude region with GPS observations

Science.gov (United States)

Ning, Yafei; Tang, Jun

2018-01-01

Ionospheric disturbances constitute the main restriction factor for precise positioning techniques based on global positioning system (GPS) measurements. Simultaneously, GPS observations are widely used to determine ionospheric disturbances with total electron content (TEC). In this paper, we present an analysis of ionospheric disturbances over China mid- and low-latitude area before and during the magnetic storm on 17 March 2015. The work analyses the variation of magnetic indices, the amplitude of ionospheric irregularities observed with four arrays of GPS stations and the influence of geomagnetic storm on GPS positioning. The results show that significant ionospheric TEC disturbances occurred between 10:30 and 12:00 UT during the main phase of the large storm, and the static position reliability for this period are little affected by these disturbances. It is observed that the positive and negative disturbances propagate southward along the meridian from mid-latitude to low-latitude regions. The propagation velocity is from about 200 to 700 m s-1 and the amplitude of ionospheric disturbances is from about 0.2 to 0.9 TECU min-1. Moreover, the position dilution of precession (PDOP) with static precise point positioning (PPP) on storm and quiet days is 1.8 and 0.9 cm, respectively. This study is based on the analysis of ionospheric variability with differential rate of vertical TEC (DROVT) and impact of ionospheric storm on positioning with technique of GPS PPP.

Nonlinear Estimation of Discrete-Time Signals Under Random Observation Delay

International Nuclear Information System (INIS)

Caballero-Aguila, R.; Jimenez-Lopez, J. D.; Hermoso-Carazo, A.; Linares-Perez, J.; Nakamori, S.

2008-01-01

This paper presents an approximation to the nonlinear least-squares estimation problem of discrete-time stochastic signals using nonlinear observations with additive white noise which can be randomly delayed by one sampling time. The observation delay is modelled by a sequence of independent Bernoulli random variables whose values, zero or one, indicate that the real observation arrives on time or it is delayed and, hence, the available measurement to estimate the signal is not up-to-date. Assuming that the state-space model generating the signal is unknown and only the covariance functions of the processes involved in the observation equation are ready for use, a filtering algorithm based on linear approximations of the real observations is proposed.

S-AMP for non-linear observation models

DEFF Research Database (Denmark)

Cakmak, Burak; Winther, Ole; Fleury, Bernard H.

2015-01-01

Recently we presented the S-AMP approach, an extension of approximate message passing (AMP), to be able to handle general invariant matrix ensembles. In this contribution we extend S-AMP to non-linear observation models. We obtain generalized AMP (GAMP) as the special case when the measurement...

Disturbance Observer based internal Model Controller Design: Applications to Tracking Control of Optical Disk Drive

Energy Technology Data Exchange (ETDEWEB)

Choi, Hyun Taek; Suh, Il Hong [Hanyang University (Korea, Republic of)

1999-02-01

A digital tracking controller is proposed for a precise positioning control under a large repetitive and/or non repetitive disturbances. The proposed controller consists of the internal model controller and the disturbance observer to eliminate the modeling uncertainty. A sufficient condition is given for robust stability of the proposed control system. Numerical Examples are illustrated for a precise head positioning of optical disk drives regardless of a torque disturbance and/or output disturbance. (author). 8 refs., 19 figs.

Disturbance observer based model predictive control for accurate atmospheric entry of spacecraft

Science.gov (United States)

Wu, Chao; Yang, Jun; Li, Shihua; Li, Qi; Guo, Lei

2018-05-01

Facing the complex aerodynamic environment of Mars atmosphere, a composite atmospheric entry trajectory tracking strategy is investigated in this paper. External disturbances, initial states uncertainties and aerodynamic parameters uncertainties are the main problems. The composite strategy is designed to solve these problems and improve the accuracy of Mars atmospheric entry. This strategy includes a model predictive control for optimized trajectory tracking performance, as well as a disturbance observer based feedforward compensation for external disturbances and uncertainties attenuation. 500-run Monte Carlo simulations show that the proposed composite control scheme achieves more precise Mars atmospheric entry (3.8 km parachute deployment point distribution error) than the baseline control scheme (8.4 km) and integral control scheme (5.8 km).

ℋ∞ Adaptive observer for nonlinear fractional-order systems

KAUST Repository

Ndoye, Ibrahima; Laleg-Kirati, Taous-Meriem; Darouach, Mohamed; Voos, Holger

2016-01-01

inequalities (LMIs) by using an indirect Lyapunov method.The proposed ℋ∞ adaptive observer is also robust against Lipschitz additive nonlinear uncertainty. The performance of the observer is illustrated through some examples including the chaotic Lorenz and Lü

Uniform stable observer for the disturbance estimation in two renewable energy systems.

Science.gov (United States)

Rubio, José de Jesús; Ochoa, Genaro; Balcazar, Ricardo; Pacheco, Jaime

2015-09-01

In this study, an observer for the states and disturbance estimation in two renewable energy systems is introduced. The restrictions of the gains in the proposed observer are found to guarantee its stability and the convergence of its error; furthermore, these results are utilized to obtain a good estimation. The introduced technique is applied for the states and disturbance estimation in a wind turbine and an electric vehicle. The wind turbine has a rotatory tower to catch the incoming air to be transformed in electricity and the electric vehicle has generators connected with its wheels to catch the vehicle movement to be transformed in electricity. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Nonlinear observer based phase synchronization of chaotic systems

International Nuclear Information System (INIS)

Meng Juan; Wang Xingyuan

2007-01-01

This Letter analyzes the phase synchronization problem of autonomous chaotic systems. Based on the nonlinear state observer algorithm and the pole placement technique, a phase synchronization scheme is designed. The phase synchronization of a new chaotic system is achieved by using this observer controller. Numerical simulations further demonstrate the effectiveness of the proposed phase synchronization scheme

A New Family of Nonlinear Observers for SI Engine Air/Fuel Ratio Control

DEFF Research Database (Denmark)

Jensen, P. B.; Olsen, M. B.; Poulsen, J.

1997-01-01

The paper treats a newly developed set of nonlinear observers for advanced spark ignition engine control.......The paper treats a newly developed set of nonlinear observers for advanced spark ignition engine control....

Implications of a wavepacket formulation for the nonlinear parabolized stability equations to hypersonic boundary layers

Science.gov (United States)

Kuehl, Joseph

2016-11-01

The parabolized stability equations (PSE) have been developed as an efficient and powerful tool for studying the stability of advection-dominated laminar flows. In this work, a new "wavepacket" formulation of the PSE is presented. This method accounts for the influence of finite-bandwidth-frequency distributions on nonlinear stability calculations. The methodology is motivated by convolution integrals and is found to appropriately represent nonlinear energy transfer between primary modes and harmonics, in particular nonlinear feedback, via a "nonlinear coupling coefficient." It is found that traditional discrete mode formulations overestimate nonlinear feedback by approximately 70%. This results in smaller maximum disturbance amplitudes than those observed experimentally. The new formulation corrects this overestimation, accounts for the generation of side lobes responsible for spectral broadening and results in disturbance saturation amplitudes consistent with experiment. A Mach 6 flared-cone example is presented. Support from the AFOSR Young Investigator Program via Grant FA9550-15-1-0129 is gratefully acknowledges.

Experimental observation of percolation-enhanced nonlinear light scattering from semicontinuous metal films

Science.gov (United States)

Breit, M.; Podolskiy, V. A.; Grésillon, S.; von Plessen, G.; Feldmann, J.; Rivoal, J. C.; Gadenne, P.; Sarychev, Andrey K.; Shalaev, Vladimir M.

2001-09-01

Strongly enhanced second-harmonic generation (SHG), which is characterized by a nearly isotropic intensity distribution, is observed for gold-glass films near the percolation threshold. The diffuselike SHG scattering, which can be thought of as nonlinear critical opalescence, is in sharp contrast with highly collimated linear reflection and transmission from these nanostructured semicontinuous metal films. Our observations, which can be explained by giant fluctuations of local nonlinear sources for SHG due to plasmon localization, verify recent predictions of percolation-enhanced nonlinear scattering.

Statistical approach of weakly nonlinear ablative Rayleigh-Taylor instability

International Nuclear Information System (INIS)

Garnier, J.; Masse, L.

2005-01-01

A weakly nonlinear model is proposed for the Rayleigh-Taylor instability in presence of ablation and thermal transport. The nonlinear effects for a single-mode disturbance are computed, included the nonlinear correction to the exponential growth of the fundamental modulation. Mode coupling in the spectrum of a multimode disturbance is thoroughly analyzed by a statistical approach. The exponential growth of the linear regime is shown to be reduced by the nonlinear mode coupling. The saturation amplitude is around 0.1λ for long wavelengths, but higher for short instable wavelengths in the ablative regime

Modeling aircraft noise induced sleep disturbance

Science.gov (United States)

McGuire, Sarah M.

occurrence of rapid eye movements, sleep spindles, and slow wave sleep. Using these features an approach for classifying sleep stages every one second during the night was developed. From observation of the results of the sleep stage classification, it was determined how to add faster dynamics to the nonlinear dynamic model. Slow and fast REM activity are modeled separately and the activity in the gamma frequency band of the EEG signal is used to model both spontaneous and noise-induced awakenings. The nonlinear model predicts changes in sleep structure similar to those found by other researchers and reported in the sleep literature and similar to those found in obtained survey data. To compare sleep disturbance model predictions, flight operations data from US airports were obtained and sleep disturbance in communities was predicted for different operations scenarios using the modified Markov model, the nonlinear dynamic model, and other aircraft noise awakening models. Similarities and differences in model predictions were evaluated in order to determine if the use of the developed sleep structure model leads to improved predictions of the impact of nighttime noise on communities.

Extended state observer based fuzzy model predictive control for ultra-supercritical boiler-turbine unit

International Nuclear Information System (INIS)

Zhang, Fan; Wu, Xiao; Shen, Jiong

2017-01-01

Highlights: • A novel ESOFMPC is proposed based on the combination of ESO and stable MPC. • The improved ESO can overcome unknown disturbances on any channel of MIMO system. • Nonlinearity and disturbance of boiler-turbine unit can be handled simultaneously. - Abstract: The regulation of ultra-supercritical (USC) boiler-turbine unit in large-scale power plants is vulnerable to various unknown disturbances, meanwhile, the internal nonlinearity makes it a challenging task for wide range load tracking. To overcome these two issues simultaneously, an extended state observer based fuzzy model predictive control is proposed for the USC boiler-turbine unit. Firstly, the fuzzy model of a 1000-MW coal-fired USC boiler-turbine unit is established through the nonlinearity analysis. Then a fuzzy stable model predictive controller is devised on the fuzzy model using output cost function for the purpose of wide range load tracking. An improved linear extended state observer, which can estimate plant behavior variations and unknown disturbances regardless of the direct feedthrough characteristic of the system, is synthesized with the predictive controller to enhance its disturbance rejection property. Closed-loop stability of the overall control system is guaranteed. Simulation results on a 1000-MW USC boiler-turbine unit model demonstrate the effectiveness of the proposed approach.

Nonlinear observer design for a nonlinear string/cable FEM model using contraction theory

DEFF Research Database (Denmark)

Turkyilmaz, Yilmaz; Jouffroy, Jerome; Egeland, Olav

model is presented in the form of partial differential equations (PDE). Galerkin's method is then applied to obtain a set of ordinary differential equations such that the cable model is approximated by a FEM model. Based on the FEM model, a nonlinear observer is designed to estimate the cable...

Localized fast flow disturbance observed in the plasma sheet and in the ionosphere

Directory of Open Access Journals (Sweden)

R. Nakamura

2005-02-01

Full Text Available An isolated plasma sheet flow burst took place at 22:02 UT, 1 September 2002, when the Cluster footpoint was located within the area covered by the Magnetometers-Ionospheric Radars-All-sky Cameras Large Experiment (MIRACLE. The event was associated with a clear but weak ionospheric disturbance and took place during a steady southward IMF interval, about 1h preceding a major substorm onset. Multipoint observations, both in space and from the ground, allow us to discuss the temporal and spatial scale of the disturbance both in the magnetosphere and ionosphere. Based on measurements from four Cluster spacecraft it is inferred that Cluster observed the dusk side part of a localized flow channel in the plasma sheet with a flow shear at the front, suggesting a field-aligned current out from the ionosphere. In the ionosphere the equivalent current pattern and possible field-aligned current location show a pattern similar to the auroral streamers previously obtained during an active period, except for its spatial scale and amplitude. It is inferred that the footpoint of Cluster was located in the region of an upward field-aligned current, consistent with the magnetospheric observations. The entire disturbance in the ionosphere lasted about 10min, consistent with the time scale of the current sheet disturbance in the magnetosphere. The plasma sheet bulk flow, on the other hand, had a time scale of about 2min, corresponding to the time scale of an equatorward excursion of the enhanced electrojet. These observations confirm that localized enhanced convection in the magnetosphere and associated changes in the current sheet structure produce a signature with consistent temporal and spatial scale at the conjugate ionosphere.

ℋ- adaptive observer design and parameter identification for a class of nonlinear fractional-order systems

KAUST Repository

Ndoye, Ibrahima; Voos, Holger; Laleg-Kirati, Taous-Meriem; Darouach, Mohamed

2014-01-01

In this paper, an adaptive observer design with parameter identification for a nonlinear system with external perturbations and unknown parameters is proposed. The states of the nonlinear system are estimated by a nonlinear observer and the unknown

On the conditions of exponential stability in active disturbance rejection control based on singular perturbation analysis

Science.gov (United States)

Shao, S.; Gao, Z.

2017-10-01

Stability of active disturbance rejection control (ADRC) is analysed in the presence of unknown, nonlinear, and time-varying dynamics. In the framework of singular perturbations, the closed-loop error dynamics are semi-decoupled into a relatively slow subsystem (the feedback loop) and a relatively fast subsystem (the extended state observer), respectively. It is shown, analytically and geometrically, that there exists a unique exponential stable solution if the size of the initial observer error is sufficiently small, i.e. in the same order of the inverse of the observer bandwidth. The process of developing the uniformly asymptotic solution of the system reveals the condition on the stability of the ADRC and the relationship between the rate of change in the total disturbance and the size of the estimation error. The differentiability of the total disturbance is the only assumption made.

Nonlinear observer designs for fuel cell power systems

Science.gov (United States)

Gorgun, Haluk

A fuel cell is an electrochemical device that combines hydrogen and oxygen, with the aid of electro-catalysts, to produce electricity. A fuel cell consists of a negatively charged anode, a positively charged cathode and an electrolyte, which transports protons or ions. A low temperature fuel cell has an electrical potential of about 0.7 Volt when generating a current density of 300--500 mA/cm2. Practical fuel cell power systems will require a combination of several cells in series (a stack) to satisfy the voltage requirements of specific applications. Fuel cells are suitable for a potentially wide variety of applications, from stationary power generation in the range of hundreds of megawatts to portable electronics in the range of a couple of watts. Efficient operation of a fuel cell system requires advanced feedback control designs. Reliable measurements from the system are necessary to implement such designs. However, most of the commercially available sensors do not operate properly in the reformate and humidified gas streams in fuel cell systems. Sensors working varying degrees of success are too big and costly, and sensors that are potentially low cost are not reliable or do not have the required life time [28]. Observer designs would eliminate sensor needs for measurements, and make feedback control implementable. Since the fuel cell system dynamics are highly nonlinear, observer design is not an easy task. In this study we aim to develop nonlinear observer design methods applicable to fuel cell systems. In part I of the thesis we design an observer to estimate the hydrogen partial pressure in the anode channel. We treat inlet partial pressure as an unknown slowly varying parameter and develop an adaptive observer that employs a nonlinear voltage injection term. However in this design Fuel Processing System (FPS) dynamics are not modelled, and their effect on the anode dynamics are treated as plant uncertainty. In part II of the thesis we study the FPS

Wind Turbine Model and Observer in Takagi-Sugeno Model Structure

International Nuclear Information System (INIS)

Georg, Sören; Müller, Matthias; Schulte, Horst

2014-01-01

Based on a reduced-order, dynamic nonlinear wind turbine model in Takagi- Sugeno (TS) model structure, a TS state observer is designed as a disturbance observer to estimate the unknown effective wind speed. The TS observer model is an exact representation of the underlying nonlinear model, obtained by means of the sector-nonlinearity approach. The observer gain matrices are obtained by means of a linear matrix inequality (LMI) design approach for optimal fuzzy control, where weighting matrices for the individual system states and outputs are included. The observer is tested in simulations with the aero-elastic code FAST for the NREL 5 MW reference turbine, where it shows a stable behaviour in turbulent wind simulations

Sliding mode disturbance observer-enhanced adaptive control for the air-breathing hypersonic flight vehicle

Science.gov (United States)

An, Hao; Wang, Changhong; Fidan, Baris

2017-10-01

This paper presents a backstepping procedure to design an adaptive controller for the air-breathing hypersonic flight vehicle (AHFV) subject to external disturbances and actuator saturations. In each step, a sliding mode exact disturbance observer (SMEDO) is exploited to exactly estimate the lumped disturbance in finite time. Specific dynamics are introduced to handle the possible actuator saturations. Based on SMEDO and introduced dynamics, an adaptive control law is designed, along with the consideration on ;explosion of complexity; in backstepping design. The developed controller is equipped with fast disturbance rejection and great capability to accommodate the saturated actuators, which also lead to a wider application scope. A simulation study is provided to show the effectiveness and superiority of the proposed controller.

Robust finite-time tracking control for nonlinear suspension systems via disturbance compensation

Science.gov (United States)

Pan, Huihui; Jing, Xingjian; Sun, Weichao

2017-05-01

This paper focuses on the finite-time tracking control with external disturbance for active suspension systems. In order to compensate unknown disturbance efficiently, a disturbance compensator with finite-time convergence property is studied. By analyzing the discontinuous phenomenon of classical disturbance compensation techniques, this study presents a simple approach to construct a continuous compensator satisfying the finite-time disturbance rejection performance. According to the finite-time separation principle, the design procedures of the nominal controller for the suspension system without disturbance and the disturbance compensator can be implemented in a completely independent manner. Therefore, the overall control law for the closed-loop system is continuous, which offers some distinct advantages over the existing discontinuous ones. From the perspective of practical implementation, the continuous controller can avoid effectively the unexpected chattering in active suspension control. Comparative experimental results are presented and discussed to illustrate the advantage and effectiveness of the proposed control strategy.

Mobile robot nonlinear feedback control based on Elman neural network observer

Directory of Open Access Journals (Sweden)

Khaled Al-Mutib

2015-12-01

Full Text Available This article presents a new approach to control a wheeled mobile robot without velocity measurement. The controller developed is based on kinematic model as well as dynamics model to take into account parameters of dynamics. These parameters related to dynamic equations are identified using a proposed methodology. Input–output feedback linearization is considered with a slight modification in the mathematical expressions to implement the dynamic controller and analyze the nonlinear internal behavior. The developed controllers require sensors to obtain the states needed for the closed-loop system. However, some states may not be available due to the absence of the sensors because of the cost, the weight limitation, reliability, induction of errors, failure, and so on. Particularly, for the velocity measurements, the required accuracy may not be achieved in practical applications due to the existence of significant errors induced by stochastic or cyclical noise. In this article, Elman neural network is proposed to work as an observer to estimate the velocity needed to complete the full state required for the closed-loop control and account for all the disturbances and model parameter uncertainties. Different simulations are carried out to demonstrate the feasibility of the approach in tracking different reference trajectories in comparison with other paradigms.

State Estimation for Sensor Monitoring System with Uncertainty and Disturbance

Directory of Open Access Journals (Sweden)

Jianhong Sun

2014-10-01

Full Text Available This paper considers the state estimation problem for the sensor monitoring system which contains system uncertainty and nonlinear disturbance. In the sensor monitoring system, states of each inner sensor node usually contains system uncertainty, and external noise often works as nonlinear item. Besides, information transmission in the system is also time consuming. All mentioned above may arouse in unstable of the monitoring system. In this case, states of sensors could be wrongly sampled. Under this circumstance, a proper mathematical model is proposed and by the use of Lipschitz condition, the nonlinear item is transformed to linear one. In addition, we suppose that all sensor nodes are distributed arranged, no interface occurs with each other. By establishing proper Lyapunov– Krasovskii functional, sufficient conditions are acquired by solving linear matrix inequality to make the error augmented system stable, and the gains of observers are also derived. Finally, an illustrated example is given to show that system observed value tracks system states well, which fully demonstrate the effectiveness of our result.

Explanation of the Inverse Doppler Effect Observed in Nonlinear Transmission Lines

International Nuclear Information System (INIS)

Kozyrev, Alexander B.; Weide, Daniel W. van der

2005-01-01

The theory of the inverse Doppler effect recently observed in magnetic nonlinear transmission lines is developed. We explain the crucial role of the backward spatial harmonic in the occurrence of an inverse Doppler effect and draw analogies of the magnetic nonlinear transmission line to the backward wave oscillator

Observation of an octave-spanning supercontinuum in the mid-infrared using ultrafast cascaded nonlinearities

DEFF Research Database (Denmark)

Bache, Morten; Liu, Xing; Zhou, Binbin

2014-01-01

An octave-spanning mid-IR supercontinuum is observed experimentally using ultrafast cascaded nonlinearities in an LiInS2 quadratic nonlinear crystal pumped with 70 fs energetic mid-IR pulses and cut for strongly phase-mismatched second-harmonic generation. ©OSA 2014.......An octave-spanning mid-IR supercontinuum is observed experimentally using ultrafast cascaded nonlinearities in an LiInS2 quadratic nonlinear crystal pumped with 70 fs energetic mid-IR pulses and cut for strongly phase-mismatched second-harmonic generation. ©OSA 2014....

Adaptive estimation for control of uncertain nonlinear systems with applications to target tracking

Science.gov (United States)

Madyastha, Venkatesh Kattigari

2005-08-01

Design of nonlinear observers has received considerable attention since the early development of methods for linear state estimation. The most popular approach is the extended Kalman filter (EKF), that goes through significant degradation in the presence of nonlinearities, particularly if unmodeled dynamics are coupled to the process and the measurement. For uncertain nonlinear systems, adaptive observers have been introduced to estimate the unknown state variables where no priori information about the unknown parameters is available. While establishing global results, these approaches are applicable only to systems transformable to output feedback form. Over the recent years, neural network (NN) based identification and estimation schemes have been proposed that relax the assumptions on the system at the price of sacrificing on the global nature of the results. However, most of the NN based adaptive observer approaches in the literature require knowledge of the full dimension of the system, therefore may not be suitable for systems with unmodeled dynamics. We first propose a novel approach to nonlinear state estimation from the perspective of augmenting a linear time invariant observer with an adaptive element. The class of nonlinear systems treated here are finite but of otherwise unknown dimension. The objective is to improve the performance of the linear observer when applied to a nonlinear system. The approach relies on the ability of the NNs to approximate the unknown dynamics from finite time histories of available measurements. Next we investigate nonlinear state estimation from the perspective of adaptively augmenting an existing time varying observer, such as an EKF. EKFs find their applications mostly in target tracking problems. The proposed approaches are robust to unmodeled dynamics, including unmodeled disturbances. Lastly, we consider the problem of adaptive estimation in the presence of feedback control for a class of uncertain nonlinear systems

Performance comparison of attitude determination, attitude estimation, and nonlinear observers algorithms

Science.gov (United States)

MOHAMMED, M. A. SI; BOUSSADIA, H.; BELLAR, A.; ADNANE, A.

2017-01-01

This paper presents a brief synthesis and useful performance analysis of different attitude filtering algorithms (attitude determination algorithms, attitude estimation algorithms, and nonlinear observers) applied to Low Earth Orbit Satellite in terms of accuracy, convergence time, amount of memory, and computation time. This latter is calculated in two ways, using a personal computer and also using On-board computer 750 (OBC 750) that is being used in many SSTL Earth observation missions. The use of this comparative study could be an aided design tool to the designer to choose from an attitude determination or attitude estimation or attitude observer algorithms. The simulation results clearly indicate that the nonlinear Observer is the more logical choice.

Observation of Nonlinear Self-Trapping of Broad Beams in Defocusing Waveguide Arrays

International Nuclear Information System (INIS)

Bennet, Francis H.; Haslinger, Franz; Neshev, Dragomir N.; Kivshar, Yuri S.; Alexander, Tristram J.; Mitchell, Arnan

2011-01-01

We demonstrate experimentally the localization of broad optical beams in periodic arrays of optical waveguides with defocusing nonlinearity. This observation in optics is linked to nonlinear self-trapping of Bose-Einstein-condensed atoms in stationary periodic potentials being associated with the generation of truncated nonlinear Bloch states, existing in the gaps of the linear transmission spectrum. We reveal that unlike gap solitons, these novel localized states can have an arbitrary width defined solely by the size of the input beam while independent of nonlinearity.

Robust receding horizon control for networked and distributed nonlinear systems

CERN Document Server

Li, Huiping

2017-01-01

This book offers a comprehensive, easy-to-understand overview of receding-horizon control for nonlinear networks. It presents novel general strategies that can simultaneously handle general nonlinear dynamics, system constraints, and disturbances arising in networked and large-scale systems and which can be widely applied. These receding-horizon-control-based strategies can achieve sub-optimal control performance while ensuring closed-loop stability: a feature attractive to engineers. The authors address the problems of networked and distributed control step-by-step, gradually increasing the level of challenge presented. The book first introduces the state-feedback control problems of nonlinear networked systems and then studies output feedback control problems. For large-scale nonlinear systems, disturbance is considered first, then communication delay separately, and lastly the simultaneous combination of delays and disturbances. Each chapter of this easy-to-follow book not only proposes and analyzes novel ...

Spacecraft reorientation control in presence of attitude constraint considering input saturation and stochastic disturbance

Science.gov (United States)

Cheng, Yu; Ye, Dong; Sun, Zhaowei; Zhang, Shijie

2018-03-01

This paper proposes a novel feedback control law for spacecraft to deal with attitude constraint, input saturation, and stochastic disturbance during the attitude reorientation maneuver process. Applying the parameter selection method to improving the existence conditions for the repulsive potential function, the universality of the potential-function-based algorithm is enhanced. Moreover, utilizing the auxiliary system driven by the difference between saturated torque and command torque, a backstepping control law, which satisfies the input saturation constraint and guarantees the spacecraft stability, is presented. Unlike some methods that passively rely on the inherent characteristic of the existing controller to stabilize the adverse effects of external stochastic disturbance, this paper puts forward a nonlinear disturbance observer to compensate the disturbance in real-time, which achieves a better performance of robustness. The simulation results validate the effectiveness, reliability, and universality of the proposed control law.

Synthesis of state observer and nonlinear output feedback controller design of AC machines

International Nuclear Information System (INIS)

Al-Tahir, Ali Abdul Razzaq

2016-01-01

The research work developed in this thesis has been mainly devoted to the observation and sensor-less control problems of electrical systems. Three major contributions have been carried out using the high - gain concept and output feedback adaptive nonlinear control for online UPS. In this thesis, we dealt with synthesis of sampled high - gain observers for nonlinear systems application to PMSMs and DFIGs. We particularly focus on two constraints: sampling effect and tracking unmeasured mechanical and magnetic state variables. The first contribution consists in a high gain observer design that performs a relatively accurate estimation of both mechanical and magnetic state variable using the available measurements on stator currents and voltages of PMSM. We propose a global exponential observer having state predictor for a class of nonlinear globally Lipschitz system. In second contribution, we proposed a novel non - standard HGO design for non-injective feedback relation application to variable speed DFIG based WPGS. Meanwhile, a reduced system model is analyzed, provided by observability test to check is it possible synthesis state observer for sensor-less control. In last contribution, an adaptive observer for states and parameters estimation are designed for a class of state - affine systems application to output feedback adaptive nonlinear control of three-phase AC/DC boost power converter for online UPS systems. Basically, the problem focused on cascade nonlinear adaptive controller that is developed making use Lyapunov theory. The parameters uncertainties are processed by the practical control laws under back-stepping design techniques with capacity of adaptation. (author)

United States Forest Disturbance Trends Observed Using Landsat Time Series

Science.gov (United States)

Masek, Jeffrey G.; Goward, Samuel N.; Kennedy, Robert E.; Cohen, Warren B.; Moisen, Gretchen G.; Schleeweis, Karen; Huang, Chengquan

2013-01-01

Disturbance events strongly affect the composition, structure, and function of forest ecosystems; however, existing U.S. land management inventories were not designed to monitor disturbance. To begin addressing this gap, the North American Forest Dynamics (NAFD) project has examined a geographic sample of 50 Landsat satellite image time series to assess trends in forest disturbance across the conterminous United States for 1985-2005. The geographic sample design used a probability-based scheme to encompass major forest types and maximize geographic dispersion. For each sample location disturbance was identified in the Landsat series using the Vegetation Change Tracker (VCT) algorithm. The NAFD analysis indicates that, on average, 2.77 Mha/yr of forests were disturbed annually, representing 1.09%/yr of US forestland. These satellite-based national disturbance rates estimates tend to be lower than those derived from land management inventories, reflecting both methodological and definitional differences. In particular the VCT approach used with a biennial time step has limited sensitivity to low-intensity disturbances. Unlike prior satellite studies, our biennial forest disturbance rates vary by nearly a factor of two between high and low years. High western US disturbance rates were associated with active fire years and insect activity, while variability in the east is more strongly related to harvest rates in managed forests. We note that generating a geographic sample based on representing forest type and variability may be problematic since the spatial pattern of disturbance does not necessarily correlate with forest type. We also find that the prevalence of diffuse, non-stand clearing disturbance in US forests makes the application of a biennial geographic sample problematic. Future satellite-based studies of disturbance at regional and national scales should focus on wall-to-wall analyses with annual time step for improved accuracy.

On the solar origin of interplanetary disturbances observed in the vicinity of the Earth

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N. Vilmer

Full Text Available The solar origin of 40 interplanetary disturbances observed in the vicinity of the Earth between January 1997 and June 1998 is investigated in this paper. Analysis starts with the establishment of a list of Interplanetary Mass Ejections or ICMEs (magnetic clouds, flux ropes and ejecta and of Interplanetary Shocks measured at WIND for the period for which we had previously investigated the coupling of the interplanetary medium with the terrestrial ionospheric response. A search for associated coronal mass ejections (CMEs observed by LASCO/SOHO is then performed, starting from an estimation of the transit time of the inter-planetary perturbation from the Sun to the Earth, assumed to be achieved at a constant speed (i.e. the speed measured at 1 AU. EIT/SOHO and Nançay Radioheliograph (NRH observations are also used as proxies in this identification for the cases when LASCO observations do not allow one to firmly establish the association. The last part of the analysis concerns the identification of the solar source of the CMEs, performed using a large set of solar observations from X-ray to radio wavelengths. In the present study, this association is based on a careful examination of many data sets (EIT, NRH and H images and not on the use of catalogs and of Solar Geophysical Data reports. An association between inter-planetary disturbances and LASCO/CMEs or proxies on the disk is found for 36 interplanetary events. For 32 events, the solar source of activity can also be identified. A large proportion of cases is found to be associated with a flare signature in an active region, not excluding of course the involvement of a filament. Conclusions are finally drawn on the propagation of the disturbances in the interplanetary medium, the preferential association of disturbances detected close to the Earth’s orbit with halos or wide CMEs and the location on the solar disk of solar sources of the interplanetary disturbances during that period

Observations of unusual pre-dawn response of the equatorial F-region during geomagnetic disturbances

Science.gov (United States)

Lima, W.; Becker-Guedes, F.; Fagundes, P.; Sahai, Y.; Abalde, J.; Pillat, V.

It is known that the disturbed solar wind-magnetosphere interactions have important effects on equatorial and low-latitude ionospheric electrodynamics. The response of equatorial ionosphere during storm-time is an important aspect of space weather studies. It has been observed that during geomagnetic disturbances both suppression as well as generation of equatorial spread-F (ESF) or plasma irregularities takes place. However, the mechanism(s) associated with the generation of ESF still needs further investigations. This work reports some unusual events of pre-dawn occurrence of ionospheric F-region satellite traces followed by spread-F and cusp-like spread-F from ionospheric sounding observations carried out by a Canadian Advanced Digital Ionosonde (CADI) localized at Palmas (10.2°, 48.2°W, dip latitude 5.7°S), Brazil during 2002, every 5 minutes. For the present work we have scaled and analyzed the ionospheric sounding data for three events (April 20, September 04 and 08, 2002), which are associated with geomagnetic disturbances. In the events studied, the ionograms show the occurrence of satellite trace followed by cusp-like spread. The cusp like features move up in frequency and height and finally attain the F-layer peak value (foF2) and then disappear. They had duration of about 30 min and always occurred in the early morning hours. Our studies involved seven geomagnetic disturbances as well as quiet days during the year 2002, but only on these three occasions we observed these features. We present and discuss these observations in this paper and suggest possible mechanisms for the occurrence of these unusual features.

A nonlinear disturbance-decoupled elevation axis controller for the Multiple Mirror Telescope

Science.gov (United States)

Clark, Dusty; Trebisky, Tom; Powell, Keith

2008-07-01

The Multiple Mirror Telescope (MMT), upgraded in 2000 to a monolithic 6.5m primary mirror from its original array of six 1.8m primary mirrors, was commissioned with axis controllers designed early in the upgrade process without regard to structural resonances or the possibility of the need for digital filtering of the control axis signal path. Post-commissioning performance issues led us to investigate replacement of the original control system with a more modern digital controller with full control over the system filters and gain paths. This work, from system identification through controller design iteration by simulation, and pre-deployment hardware-in-the-loop testing, was performed using latest-generation tools with Matlab® and Simulink®. Using Simulink's Real Time Workshop toolbox to automatically generate C source code for the controller from the Simulink diagram and a custom target build script, we were able to deploy the new controller into our existing software infrastructure running Wind River's VxWorks™real-time operating system. This paper describes the process of the controller design, including system identification data collection, with discussion of implementation of non-linear control modes and disturbance decoupling, which became necessary to obtain acceptable wind buffeting rejection.

He+ dominance in the plasmasphere during geomagnetically disturbed periods: 1. Observational results

Directory of Open Access Journals (Sweden)

C. R. Wilford

Full Text Available Observations made by the DMSP F10 satellite during the recovery phase from geomagnetic disturbances in June 1991 show regions of He+ dominance around 830 km altitude at 09:00 MLT. These regions are co-located with a trough in ionisation observed around 55° in the winter hemisphere. Plasma temperature and concentration observations made during the severe geomagnetic storm of 24 March 1991 are used as a case study to determine the effects of geomagnetic disturbances along the orbit of the F10 satellite. Previous explanations for He+ dominance in this trough region relate to the part of the respective flux tubes that is in darkness. Such conditions are not relevant for this study, since the whole of the respective flux tubes are sunlit. A new mechanism is proposed to explain the He+ dominance in the trough region. This mechanism is based on plasma transport and chemical reaction effects in the F-region and topside ionosphere, and on the time scales for such chemical reactions. Flux tubes previously depleted by geomagnetic storm effects refill during the recovery phase from the ionosphere as a result of pressure differences along the flux tubes. Following a geomagnetic disturbance, the He+ ion recovers quickly via the rapid photoionisation of neutral helium, in the F-region and the topside. The recovery of the O+ and H+ ions is less rapid. This is proposed as a result of the respective charge exchange reactions with neutral atomic hydrogen and oxygen. Preliminary model calculations support the proposed mechanism.Key words. Magnetospheric physics (storms and sub-storms, plasmasphere

Observers for a class of systems with nonlinearities satisfying an incremental quadratic inequality

Science.gov (United States)

Acikmese, Ahmet Behcet; Martin, Corless

2004-01-01

We consider the problem of state estimation from nonlinear time-varying system whose nonlinearities satisfy an incremental quadratic inequality. Observers are presented which guarantee that the state estimation error exponentially converges to zero.

Substorm-related thermospheric density and wind disturbances derived from CHAMP observations

Directory of Open Access Journals (Sweden)

P. Ritter

2010-06-01

Full Text Available The input of energy and momentum from the magnetosphere is most efficiently coupled into the high latitude ionosphere-thermosphere. The phenomenon we are focusing on here is the magnetospheric substorm. This paper presents substorm related observations of the thermosphere derived from the CHAMP satellite. With its sensitive accelerometer the satellite can measure the air density and zonal winds. Based on a large number of substorm events the average high and low latitude thermospheric response to substorm onsets was deduced. During magnetic substorms the thermospheric density is enhanced first at high latitudes. Then the disturbance travels at an average speed of 650 m/s to lower latitudes, and 3–4 h later the bulge reaches the equator on the night side. Under the influence of the Coriolis force the travelling atmospheric disturbance (TAD is deflected westward. In accordance with present-day atmospheric models the disturbance zonal wind velocities during substorms are close to zero near the equator before midnight and attain moderate westward velocities after midnight. In general, the wind system is only weakly perturbed (Δvy<20 m/s by substorms.

Nonlinear Inference in Partially Observed Physical Systems and Deep Neural Networks

Science.gov (United States)

Rozdeba, Paul J.

The problem of model state and parameter estimation is a significant challenge in nonlinear systems. Due to practical considerations of experimental design, it is often the case that physical systems are partially observed, meaning that data is only available for a subset of the degrees of freedom required to fully model the observed system's behaviors and, ultimately, predict future observations. Estimation in this context is highly complicated by the presence of chaos, stochasticity, and measurement noise in dynamical systems. One of the aims of this dissertation is to simultaneously analyze state and parameter estimation in as a regularized inverse problem, where the introduction of a model makes it possible to reverse the forward problem of partial, noisy observation; and as a statistical inference problem using data assimilation to transfer information from measurements to the model states and parameters. Ultimately these two formulations achieve the same goal. Similar aspects that appear in both are highlighted as a means for better understanding the structure of the nonlinear inference problem. An alternative approach to data assimilation that uses model reduction is then examined as a way to eliminate unresolved nonlinear gating variables from neuron models. In this formulation, only measured variables enter into the model, and the resulting errors are themselves modeled by nonlinear stochastic processes with memory. Finally, variational annealing, a data assimilation method previously applied to dynamical systems, is introduced as a potentially useful tool for understanding deep neural network training in machine learning by exploiting similarities between the two problems.

Growth and decay of weak disturbances in visco-elastic arteries

International Nuclear Information System (INIS)

Gaur, M.; Rai, S.K.

1996-01-01

In non-linear mathematical models of the arterial circulation, the visco-elasticity of the vessel walls has generally been neglected or only taken into account in a highly approximate manner. The object of the present paper is to provide a mathematical model for the propagation of weak disturbances in visco-elastic arteries. A differential equation governing the growth and decay of the waves has been obtained and solved analytically. It is observed that compressive pulses may grow into shock waves. A mathematical model which is based on geometrical and mechanical properties of arteries admits disturbances in the propagating pulses which are not observed in human beings under normal physiological conditions. It is also predicted that visco-elasticity delays the shock wave formation in the model. The shock wave may appear in periphery in the case of aortic insufficiency due to increased pressure at the root of aorta. The corresponding predictions are in much better agreement with in vivo measurements

Estimation of the radial force using a disturbance force observer for a magnetically levitated centrifugal blood pump.

Science.gov (United States)

Pai, C N; Shinshi, T; Shimokohbe, A

2010-01-01

Evaluation of the hydraulic forces in a magnetically levitated (maglev) centrifugal blood pump is important from the point of view of the magnetic bearing design. Direct measurement is difficult due to the absence of a rotor shaft, and computational fluid dynamic analysis demands considerable computational resource and time. To solve this problem, disturbance force observers were developed, using the radial controlled magnetic bearing of a centrifugal blood pump, to estimate the radial forces on the maglev impeller. In order to design the disturbance observer, the radial dynamic characteristics of a maglev impeller were evaluated under different working conditions. It was observed that the working fluid affects the additional mass and damping, while the rotational speed affects the damping and stiffness of the maglev system. Based on these results, disturbance force observers were designed and implemented. The designed disturbance force observers present a bandwidth of 45 Hz. In non-pulsatile conditions, the magnitude of the estimated radial thrust increases in proportion to the flowrate, and the rotational speed has little effect on the force direction. At 5 l/min against 100 mmHg, the estimated radial thrust is 0.95 N. In pulsatile conditions, this method was capable of estimating the pulsatile radial thrust with good response.

Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal

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Tao Tang

2018-03-01

Full Text Available High-performance position control can be improved by the compensation of disturbances for a gear-driven control system. This paper presents a mode-free disturbance observer (DOB based on sensor-fusion to reduce some errors related disturbances for a gear-driven gimbal. This DOB uses the rate deviation to detect disturbances for implementation of a high-gain compensator. In comparison with the angular position signal the rate deviation between load and motor can exhibits the disturbances exiting in the gear-driven gimbal quickly. Due to high bandwidth of the motor rate closed loop, the inverse model of the plant is not necessary to implement DOB. Besides, this DOB requires neither complex modeling of plant nor the use of additive sensors. Without rate sensors providing angular rate, the rate deviation is easily detected by encoders mounted on the side of motor and load, respectively. Extensive experiments are provided to demonstrate the benefits of the proposed algorithm.

Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal.

Science.gov (United States)

Tang, Tao; Chen, Sisi; Huang, Xuanlin; Yang, Tao; Qi, Bo

2018-03-02

High-performance position control can be improved by the compensation of disturbances for a gear-driven control system. This paper presents a mode-free disturbance observer (DOB) based on sensor-fusion to reduce some errors related disturbances for a gear-driven gimbal. This DOB uses the rate deviation to detect disturbances for implementation of a high-gain compensator. In comparison with the angular position signal the rate deviation between load and motor can exhibits the disturbances exiting in the gear-driven gimbal quickly. Due to high bandwidth of the motor rate closed loop, the inverse model of the plant is not necessary to implement DOB. Besides, this DOB requires neither complex modeling of plant nor the use of additive sensors. Without rate sensors providing angular rate, the rate deviation is easily detected by encoders mounted on the side of motor and load, respectively. Extensive experiments are provided to demonstrate the benefits of the proposed algorithm.

On the effects of nonlinearities in room impulse response measurements with exponential sweeps

DEFF Research Database (Denmark)

Ciric, Dejan; Markovic, Milos; Mijic, Miomir

2013-01-01

In room impulse response measurements, there are some common disturbances that affect the measured results. These disturbances include nonlinearity, noise and time variance. In this paper, the effects of nonlinearities in the measurements with exponential sweep-sine signals are analyzed from diff...

Disturbance observer based current controller for vector controlled IM drives

DEFF Research Database (Denmark)

Teodorescu, Remus; Dal, Mehmet

2008-01-01

induction motor (IM) drives. The control design, based on synchronously rotating d-q frame model of the machine, has a simple structure that combines the proportional portion of a conventional PI control and output of the observer. The observer is predicted to estimate the disturbances caused by parameters...... coupling effects and increase robustness against parameters change without requiring any other compensation strategies. The experimental implementation results are provided to demonstrate validity and performance of the proposed control scheme.......In order to increase the accuracy of the current control loop, usually, well known parameter compensation and/or cross decoupling techniques are employed for advanced ac drives. In this paper, instead of using these techniques an observer-based current controller is proposed for vector controlled...

Atmospheric structure deduced from disturbed line profiles application to Ca II lines

International Nuclear Information System (INIS)

Mein, N.; Mein, P.; Malherbe, J.-M.; Dame, L.; Dumont, S.; CNRS, Laboratoire de Physique Stellaire et Planetaire, Verrieres-le-Buisson, France; College de France, Paris)

1985-01-01

A new method is described in order to derive physical quantities (temperature, pressure, radial velocities) from the observation of disturbed line profiles. A method of Fourier analysis is suggested with double profiles and a nonlinear expansion of the coefficient of the Fourier terms. An application to a sequence of H-Ca II lines is attempted. The method is a powerful tool allowing for the simultaneous determination of at least four physical quantities. 9 references

Wave disturbances in the solar corona: radio observations at 24.5-25.5 MHz

International Nuclear Information System (INIS)

Kobrin, M.M.; Snegriev, S.D.

1984-01-01

We present an analysis of observations of fluctuations in the integrated flux of radio emission from the ''quiet'' sun. The observations were made on the UTR-2 radiotelescope, simultaneously at 11 frequencies in the range 24.5-25.5 MHz. Control observations of Taurus were made in order to allow for the effects of the earth's ionosphere. We measured the phase dependences between oscillations in the radio emission intensity which looked like wave trains. From these measurements we found that for periods of about 10 min we always observed disturbances propagating from the lower levels of the corona to the upper levels. The frequency drift in the trains is observed to be about 10 -3 MHz/sec, corresponding to a disturbance velocity of about 100 km/sec. This may be associated with the propagation of magnetosonic waves. Our estimates show that the observed effects cannot be explained by a bremsstrahlung mechanism: We need to rely on plasma mechanisms in order to explain how the radio emission is generated

A Behavior Rating Scale for Emotionally Disturbed Students: The Pupil Observation Scale.

Science.gov (United States)

Armstrong-Hugg, Robin L.; And Others

The paper describes development of the Pupil Observation Schedule (POS), a computer based system which provides a framework for assessing, evaluating, and reporting behavioral progress of emotionally disturbed students. The POS is used to rate five skill areas--computation, language, reading, reference, and psychomotor skills; and nine behavioral…

Observation of the state of the nuclear reactor core by means of non-linear observation algorithms

International Nuclear Information System (INIS)

Maciel Palacio, F.E.; Espana, M.D.

1990-01-01

A combined, variable-adaptive structure, non-linear observer was designed in order to observe the state of the nuclear reactor core, based on the Absolute Stability Theory. The observer was proved under noise and modelling error conditions. Successful results were obtained in the observation of the states in both cases, showing clear improvement in the observation due to the application of adaptive and variable structure ideas. (Author) [es

Robust control of nonlinear MAGLEV suspension system with mismatched uncertainties via DOBC approach.

Science.gov (United States)

Yang, Jun; Zolotas, Argyrios; Chen, Wen-Hua; Michail, Konstantinos; Li, Shihua

2011-07-01

Robust control of a class of uncertain systems that have disturbances and uncertainties not satisfying "matching" condition is investigated in this paper via a disturbance observer based control (DOBC) approach. In the context of this paper, "matched" disturbances/uncertainties stand for the disturbances/uncertainties entering the system through the same channels as control inputs. By properly designing a disturbance compensation gain, a novel composite controller is proposed to counteract the "mismatched" lumped disturbances from the output channels. The proposed method significantly extends the applicability of the DOBC methods. Rigorous stability analysis of the closed-loop system with the proposed method is established under mild assumptions. The proposed method is applied to a nonlinear MAGnetic LEViation (MAGLEV) suspension system. Simulation shows that compared to the widely used integral control method, the proposed method provides significantly improved disturbance rejection and robustness against load variation. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

Multisynchronization of Chaotic Oscillators via Nonlinear Observer Approach

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Ricardo Aguilar-López

2014-01-01

Full Text Available The goal of this work is to synchronize a class of chaotic oscillators in a master-slave scheme, under different initial conditions, considering several slaves systems. The Chen oscillator is employed as a benchmark model and a nonlinear observer is proposed to reach synchronicity between the master and the slaves’ oscillators. The proposed observer contains a proportional and integral form of a bounded function of the synchronization error in order to provide asymptotic synchronization with a satisfactory performance. Numerical experiments were carried out to show the operation of the considered methodology.

Multisynchronization of chaotic oscillators via nonlinear observer approach.

Science.gov (United States)

Aguilar-López, Ricardo; Martínez-Guerra, Rafael; Mata-Machuca, Juan L

2014-01-01

The goal of this work is to synchronize a class of chaotic oscillators in a master-slave scheme, under different initial conditions, considering several slaves systems. The Chen oscillator is employed as a benchmark model and a nonlinear observer is proposed to reach synchronicity between the master and the slaves' oscillators. The proposed observer contains a proportional and integral form of a bounded function of the synchronization error in order to provide asymptotic synchronization with a satisfactory performance. Numerical experiments were carried out to show the operation of the considered methodology.

An enstrophy-based linear and nonlinear receptivity theory

Science.gov (United States)

Sengupta, Aditi; Suman, V. K.; Sengupta, Tapan K.; Bhaumik, Swagata

2018-05-01

In the present research, a new theory of instability based on enstrophy is presented for incompressible flows. Explaining instability through enstrophy is counter-intuitive, as it has been usually associated with dissipation for the Navier-Stokes equation (NSE). This developed theory is valid for both linear and nonlinear stages of disturbance growth. A previously developed nonlinear theory of incompressible flow instability based on total mechanical energy described in the work of Sengupta et al. ["Vortex-induced instability of an incompressible wall-bounded shear layer," J. Fluid Mech. 493, 277-286 (2003)] is used to compare with the present enstrophy based theory. The developed equations for disturbance enstrophy and disturbance mechanical energy are derived from NSE without any simplifying assumptions, as compared to other classical linear/nonlinear theories. The theory is tested for bypass transition caused by free stream convecting vortex over a zero pressure gradient boundary layer. We explain the creation of smaller scales in the flow by a cascade of enstrophy, which creates rotationality, in general inhomogeneous flows. Linear and nonlinear versions of the theory help explain the vortex-induced instability problem under consideration.

ℋ- adaptive observer design and parameter identification for a class of nonlinear fractional-order systems

KAUST Repository

Ndoye, Ibrahima

2014-12-01

In this paper, an adaptive observer design with parameter identification for a nonlinear system with external perturbations and unknown parameters is proposed. The states of the nonlinear system are estimated by a nonlinear observer and the unknown parameters are also adapted to their values. Sufficient conditions for the stability of the adaptive observer error dynamics are derived in terms of linear matrix inequalities. Simulation results for chaotic Lorenz systems with unknown parameters in the presence of external perturbations are given to illustrate the effectiveness of our proposed approach. © 2014 IEEE.

Feedforward Nonlinear Control Using Neural Gas Network

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Iván Machón-González

2017-01-01

Full Text Available Nonlinear systems control is a main issue in control theory. Many developed applications suffer from a mathematical foundation not as general as the theory of linear systems. This paper proposes a control strategy of nonlinear systems with unknown dynamics by means of a set of local linear models obtained by a supervised neural gas network. The proposed approach takes advantage of the neural gas feature by which the algorithm yields a very robust clustering procedure. The direct model of the plant constitutes a piece-wise linear approximation of the nonlinear system and each neuron represents a local linear model for which a linear controller is designed. The neural gas model works as an observer and a controller at the same time. A state feedback control is implemented by estimation of the state variables based on the local transfer function that was provided by the local linear model. The gradient vectors obtained by the supervised neural gas algorithm provide a robust procedure for feedforward nonlinear control, that is, supposing the inexistence of disturbances.

Clinical observation of taste disturbance induced by radiation therapy

International Nuclear Information System (INIS)

Murakami, Yuzuru; Sera, Koshi; Nagasawa, Hiroshi; Fukushima, Noriyuki; Yajin, Koji; Harada, Yasuo

1984-01-01

Qualitative gustometry (filter paper disc method) was performed in six patients who underwent radiation therapy. Following results were obtained. 1) Subjective taste disturbance appeared when irradiation dosage amounted to 1000-2000 rad. Whereas, it disappeared in 1 to 3 months after the termination of irradiation. 2) The longer the period of irradiation, the more slowly taste disturbance recovered. 3) Disgeusia was noticed in 44.3% of S, 66.7% of N, 70% of T and 36.2% of Q tests. 4) Taste thresholds in the apical tongue region improved almost parallel to subjective recovery of the taste. Occasionally taste disturbance was prolonged over a month. This is possibly due to delayed regeneration of the gustatory buds. Furthermore, conditions of the oral cavity, such as infection, or mechanical stimulation, may well influence degree of taste disturbance and the process of regeneration. (author)

A novel robust proportional-integral (PI) adaptive observer design for chaos synchronization

International Nuclear Information System (INIS)

Pourgholi Mahdi; Majd Vahid Johari

2011-01-01

In this paper, chaos synchronization in the presence of parameter uncertainty, observer gain perturbation and exogenous input disturbance is considered. A nonlinear non-fragile proportional-integral (PI) adaptive observer is designed for the synchronization of chaotic systems; its stability conditions based on the Lyapunov technique are derived. The observer proportional and integral gains, by converting the conditions into linear matrix inequality (LMI), are optimally selected from solutions that satisfy the observer stability conditions such that the effect of disturbance on the synchronization error becomes minimized. To show the effectiveness of the proposed method, simulation results for the synchronization of a Lorenz chaotic system with unknown parameters in the presence of an exogenous input disturbance and abrupt gain perturbation are reported. (general)

Approaching control for tethered space robot based on disturbance observer using super twisting law

Science.gov (United States)

Hu, Yongxin; Huang, Panfeng; Meng, Zhongjie; Wang, Dongke; Lu, Yingbo

2018-05-01

Approaching control is a key mission for the tethered space robot to perform the task of removing space debris. But the uncertainties of the TSR such as the change of model parameter have an important effect on the approaching mission. Considering the space tether and the attitude of the gripper, the dynamic model of the TSR is derived using Lagrange method. Then a disturbance observer is designed to estimate the uncertainty based on STW control method. Using the disturbance observer, a controller is designed, and the performance is compared with the dynamic inverse controller which turns out that the proposed controller performs better. Numerical simulation validates the feasibility of the proposed controller on the position and attitude tracking of the TSR.

Active disturbance rejection control based robust output feedback autopilot design for airbreathing hypersonic vehicles.

Science.gov (United States)

Tian, Jiayi; Zhang, Shifeng; Zhang, Yinhui; Li, Tong

2018-03-01

Since motion control plant (y (n) =f(⋅)+d) was repeatedly used to exemplify how active disturbance rejection control (ADRC) works when it was proposed, the integral chain system subject to matched disturbances is always regarded as a canonical form and even misconstrued as the only form that ADRC is applicable to. In this paper, a systematic approach is first presented to apply ADRC to a generic nonlinear uncertain system with mismatched disturbances and a robust output feedback autopilot for an airbreathing hypersonic vehicle (AHV) is devised based on that. The key idea is to employ the feedback linearization (FL) and equivalent input disturbance (EID) technique to decouple nonlinear uncertain system into several subsystems in canonical form, thus it would be much easy to directly design classical/improved linear/nonlinear ADRC controller for each subsystem. It is noticed that all disturbances are taken into account when implementing FL rather than just omitting that in previous research, which greatly enhances controllers' robustness against external disturbances. For autopilot design, ADRC strategy enables precise tracking for velocity and altitude reference command in the presence of severe parametric perturbations and atmospheric disturbances only using measurable output information. Bounded-input-bounded-output (BIBO) stable is analyzed for closed-loop system. To illustrate the feasibility and superiority of this novel design, a series of comparative simulations with some prominent and representative methods are carried out on a benchmark longitudinal AHV model. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Stability analysis of embedded nonlinear predictor neural generalized predictive controller

Directory of Open Access Journals (Sweden)

Hesham F. Abdel Ghaffar

2014-03-01

Full Text Available Nonlinear Predictor-Neural Generalized Predictive Controller (NGPC is one of the most advanced control techniques that are used with severe nonlinear processes. In this paper, a hybrid solution from NGPC and Internal Model Principle (IMP is implemented to stabilize nonlinear, non-minimum phase, variable dead time processes under high disturbance values over wide range of operation. Also, the superiority of NGPC over linear predictive controllers, like GPC, is proved for severe nonlinear processes over wide range of operation. The necessary conditions required to stabilize NGPC is derived using Lyapunov stability analysis for nonlinear processes. The NGPC stability conditions and improvement in disturbance suppression are verified by both simulation using Duffing’s nonlinear equation and real-time using continuous stirred tank reactor. Up to our knowledge, the paper offers the first hardware embedded Neural GPC which has been utilized to verify NGPC–IMP improvement in realtime.

Nonlinear drift tearing mode. Strong mode of excitation and stabilization mechanisms

International Nuclear Information System (INIS)

Galeev, A.A.; Zelenyj, L.M.; Kuznetsova, M.M.

1985-01-01

A nonlinear theory of magnetic disturbance development in collisionless configurations with magnetic field shear is considered. The instability evolution is investigated with account for the dynamics of ions and potential electric fields which determine the mode stabilization. It has been found that the drift tearing mode possesses metastable properties: in a nonlinear mode even the growth of linearly stable disturbances of the finite amplitude is possible

Research of Compound Control for DC Motor System Based on Global Sliding Mode Disturbance Observer

Directory of Open Access Journals (Sweden)

He Zhang

2014-01-01

Full Text Available Aiming at the problems of modeling errors, parameter variations, and load moment disturbances in DC motor control system, one global sliding mode disturbance observer (GSMDO is proposed based on the global sliding mode (GSM control theory. The output of GSMDO is used as the disturbance compensation in control system, which can improve the robust performance of DC motor control system. Based on the designed GSMDO in inner loop, one compound controller, composed of a feedback controller and a feedforward controller, is proposed in order to realize the position tracking of DC motor system. The gains of feedback controller are obtained by means of linear quadratic regulator (LQR optimal control theory. Simulation results present that the proposed control scheme possesses better tracking properties and stronger robustness against modeling errors, parameter variations, and friction moment disturbances. Moreover, its structure is simple; therefore it is easy to be implemented in engineering.

Nonlinear observer output-feedback MPC treatment scheduling for HIV

Directory of Open Access Journals (Sweden)

Zurakowski Ryan

2011-05-01

Full Text Available Abstract Background Mathematical models of the immune response to the Human Immunodeficiency Virus demonstrate the potential for dynamic schedules of Highly Active Anti-Retroviral Therapy to enhance Cytotoxic Lymphocyte-mediated control of HIV infection. Methods In previous work we have developed a model predictive control (MPC based method for determining optimal treatment interruption schedules for this purpose. In this paper, we introduce a nonlinear observer for the HIV-immune response system and an integrated output-feedback MPC approach for implementing the treatment interruption scheduling algorithm using the easily available viral load measurements. We use Monte-Carlo approaches to test robustness of the algorithm. Results The nonlinear observer shows robust state tracking while preserving state positivity both for continuous and discrete measurements. The integrated output-feedback MPC algorithm stabilizes the desired steady-state. Monte-Carlo testing shows significant robustness to modeling error, with 90% success rates in stabilizing the desired steady-state with 15% variance from nominal on all model parameters. Conclusions The possibility of enhancing immune responsiveness to HIV through dynamic scheduling of treatment is exciting. Output-feedback Model Predictive Control is uniquely well-suited to solutions of these types of problems. The unique constraints of state positivity and very slow sampling are addressable by using a special-purpose nonlinear state estimator, as described in this paper. This shows the possibility of using output-feedback MPC-based algorithms for this purpose.

Quantum dynamical effects as a singular perturbation for observables in open quasi-classical nonlinear mesoscopic systems

International Nuclear Information System (INIS)

Berman, G.P.; Borgonovi, F.; Dalvit, D.A.R.

2009-01-01

We review our results on a mathematical dynamical theory for observables for open many-body quantum nonlinear bosonic systems for a very general class of Hamiltonians. We show that non-quadratic (nonlinear) terms in a Hamiltonian provide a singular 'quantum' perturbation for observables in some 'mesoscopic' region of parameters. In particular, quantum effects result in secular terms in the dynamical evolution, that grow in time. We argue that even for open quantum nonlinear systems in the deep quasi-classical region, these quantum effects can survive after decoherence and relaxation processes take place. We demonstrate that these quantum effects in open quantum systems can be observed, for example, in the frequency Fourier spectrum of the dynamical observables, or in the corresponding spectral density of noise. Estimates are presented for Bose-Einstein condensates, low temperature mechanical resonators, and nonlinear optical systems prepared in large amplitude coherent states. In particular, we show that for Bose-Einstein condensate systems the characteristic time of deviation of quantum dynamics for observables from the corresponding classical dynamics coincides with the characteristic time-scale of the well-known quantum nonlinear effect of phase diffusion.

Evolution of long wave disturbances in horizontal gas-liquid flows

International Nuclear Information System (INIS)

Kuru, W.C.; Montalbano, E.D.; Brennecke, J.F.; McCready, M.J.

1993-01-01

Coherent nonlinear interactions between linearly stable, long wavelength modes and modes that are near the peak of the growth rate are observed in experiments. These open-quotes side-bandclose quotes interactions are suggested as the mechanism for initiation of long wavelength modes that are otherwise predicted to be stable from linear stability theory. Quadratic interaction theory is used to provide insight into when long wavelength modes will appear and how their frequency will be selected. The present work differs from previous side band analyses in that a low frequency mode is retained as a dominant mode (consistent with observations). Because of its relevance to continued growth of long wavelength disturbances and possibly slug formation and owing to its importance in modeling flow regime transitions, a discussion of the validity of the one-dimensional macroscopic equations and the boundary-layer equations as models of long wavelength disturbances for the two-layer stability problem is given in the context of laminar flow of a fluid over a solid wavy surface

Improved algorithm for solving nonlinear parabolized stability equations

International Nuclear Information System (INIS)

Zhao Lei; Zhang Cun-bo; Liu Jian-xin; Luo Ji-sheng

2016-01-01

Due to its high computational efficiency and ability to consider nonparallel and nonlinear effects, nonlinear parabolized stability equations (NPSE) approach has been widely used to study the stability and transition mechanisms. However, it often diverges in hypersonic boundary layers when the amplitude of disturbance reaches a certain level. In this study, an improved algorithm for solving NPSE is developed. In this algorithm, the mean flow distortion is included into the linear operator instead of into the nonlinear forcing terms in NPSE. An under-relaxation factor for computing the nonlinear terms is introduced during the iteration process to guarantee the robustness of the algorithm. Two case studies, the nonlinear development of stationary crossflow vortices and the fundamental resonance of the second mode disturbance in hypersonic boundary layers, are presented to validate the proposed algorithm for NPSE. Results from direct numerical simulation (DNS) are regarded as the baseline for comparison. Good agreement can be found between the proposed algorithm and DNS, which indicates the great potential of the proposed method on studying the crossflow and streamwise instability in hypersonic boundary layers. (paper)

Nonlinear control of magnetic signatures

Science.gov (United States)

Niemoczynski, Bogdan

Magnetic properties of ferrite structures are known to cause fluctuations in Earth's magnetic field around the object. These fluctuations are known as the object's magnetic signature and are unique based on the object's geometry and material. It is a common practice to neutralize magnetic signatures periodically after certain time intervals, however there is a growing interest to develop real time degaussing systems for various applications. Development of real time degaussing system is a challenging problem because of magnetic hysteresis and difficulties in measurement or estimation of near-field flux data. The goal of this research is to develop a real time feedback control system that can be used to minimize magnetic signatures for ferrite structures. Experimental work on controlling the magnetic signature of a cylindrical steel shell structure with a magnetic disturbance provided evidence that the control process substantially increased the interior magnetic flux. This means near field estimation using interior sensor data is likely to be inaccurate. Follow up numerical work for rectangular and cylindrical cross sections investigated variations in shell wall flux density under a variety of ambient excitation and applied disturbances. Results showed magnetic disturbances could corrupt interior sensor data and magnetic shielding due to the shell walls makes the interior very sensitive to noise. The magnetic flux inside the shell wall showed little variation due to inner disturbances and its high base value makes it less susceptible to noise. This research proceeds to describe a nonlinear controller to use the shell wall data as an input. A nonlinear plant model of magnetics is developed using a constant tau to represent domain rotation lag and a gain function k to describe the magnetic hysteresis curve for the shell wall. The model is justified by producing hysteresis curves for multiple materials, matching experimental data using a particle swarm algorithm, and

GPS network observation of traveling ionospheric disturbances following the Chelyabinsk meteorite blast

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F. Ding

2016-11-01

Full Text Available We use the Global Positioning System (GPS network in northwest China and central Asia to monitor traveling ionospheric disturbances (TIDs, which were possibly excited by the large meteorite blast over Chelyabinsk, Russia, on 15 February 2013. Two TIDs were observed. The first TID was observed 13 min after the blast within a range of 270–600 km from the blast site. It propagated radially from the blast site with a mean velocity and period of 369 m s−1 and 12 min, respectively. The second TID was found in northwest China, 1.5 h after the time of the blast, at  ∼  2500–3100 km from the blast site. This latter TID propagated southeastward with a velocity and period of 410 m s−1 and 23 min, respectively. Severe dissipation of the perturbation total electronic content (TEC amplitude was observed. Any TIDs propagating in a global range was not found after the meteorite blast. Features of TIDs were compared with those excited by early nuclear explosion tests. It is inferred from our analysis that the energy release of the Chelyabinsk meteorite blast may not be large enough to excite such ionospheric disturbances in a global range as some nuclear explosions did.

Observer-based design of set-point tracking adaptive controllers for nonlinear chaotic systems

International Nuclear Information System (INIS)

Khaki-Sedigh, A.; Yazdanpanah-Goharrizi, A.

2006-01-01

A gradient based approach for the design of set-point tracking adaptive controllers for nonlinear chaotic systems is presented. In this approach, Lyapunov exponents are used to select the controller gain. In the case of unknown or time varying chaotic plants, the Lyapunov exponents may vary during the plant operation. In this paper, an effective adaptive strategy is used for online identification of Lyapunov exponents and adaptive control of nonlinear chaotic plants. Also, a nonlinear observer for estimation of the states is proposed. Simulation results are provided to show the effectiveness of the proposed methodology

Observer-based design of set-point tracking adaptive controllers for nonlinear chaotic systems

Energy Technology Data Exchange (ETDEWEB)

Khaki-Sedigh, A. [Department of Electrical Engineering, K.N. Toosi University of Technology, Sayyed Khandan Bridge, Shariati Street, Tehran 16314 (Iran, Islamic Republic of)]. E-mail: sedigh@kntu.ac.ir; Yazdanpanah-Goharrizi, A. [Department of Electrical Engineering, K.N. Toosi University of Technology, Sayyed Khandan Bridge, Shariati Street, Tehran 16314 (Iran, Islamic Republic of)]. E-mail: yazdanpanah@ee.kntu.ac.ir

2006-09-15

A gradient based approach for the design of set-point tracking adaptive controllers for nonlinear chaotic systems is presented. In this approach, Lyapunov exponents are used to select the controller gain. In the case of unknown or time varying chaotic plants, the Lyapunov exponents may vary during the plant operation. In this paper, an effective adaptive strategy is used for online identification of Lyapunov exponents and adaptive control of nonlinear chaotic plants. Also, a nonlinear observer for estimation of the states is proposed. Simulation results are provided to show the effectiveness of the proposed methodology.

Chaotic synchronization via adaptive sliding mode observers subject to input nonlinearity

International Nuclear Information System (INIS)

Lin Juisheng; Yan Junjuh; Liao Tehlu

2005-01-01

This paper is concerned with the state reconstruction of nonlinear chaotic systems with uncertainty having unknown bounds. An adaptive output feedback sliding mode observer (AOFSMO) is established from the available output measurement. Unlike most works we further consider the presence of input nonlinearity due to physical limitations and no restrictive assumption is imposed on the system. Thus, the range of applicability of the proposed method becomes broad. Finally, a hyperchaotic Roessler system is used as an illustrative example to demonstrate the effectiveness of the proposed AOFSMO design method

Sliding Mode Observer-Based Current Sensor Fault Reconstruction and Unknown Load Disturbance Estimation for PMSM Driven System.

Science.gov (United States)

Zhao, Kaihui; Li, Peng; Zhang, Changfan; Li, Xiangfei; He, Jing; Lin, Yuliang

2017-12-06

This paper proposes a new scheme of reconstructing current sensor faults and estimating unknown load disturbance for a permanent magnet synchronous motor (PMSM)-driven system. First, the original PMSM system is transformed into two subsystems; the first subsystem has unknown system load disturbances, which are unrelated to sensor faults, and the second subsystem has sensor faults, but is free from unknown load disturbances. Introducing a new state variable, the augmented subsystem that has sensor faults can be transformed into having actuator faults. Second, two sliding mode observers (SMOs) are designed: the unknown load disturbance is estimated by the first SMO in the subsystem, which has unknown load disturbance, and the sensor faults can be reconstructed using the second SMO in the augmented subsystem, which has sensor faults. The gains of the proposed SMOs and their stability analysis are developed via the solution of linear matrix inequality (LMI). Finally, the effectiveness of the proposed scheme was verified by simulations and experiments. The results demonstrate that the proposed scheme can reconstruct current sensor faults and estimate unknown load disturbance for the PMSM-driven system.

Disturbances observed near Ganymede by Voyager 2

International Nuclear Information System (INIS)

Burlaga, L.F.; Belcher, J.W.; Ness, N.F.

1980-01-01

We investigated disturbances in the field and particle environment observed by Voyager 2 as it passed near the Jovian moon Ganymede in Jupiter's magnetosphere. The plasma analyzer observed at least a dozen sharply bounded depressions in density (cavities). We estimated that they probably extended at least 20 RGAMMA along the ambient magnetic field lines (R/sub G/=2635 km is the radius of Ganymede) and between 2--50 R/sub G/ in the directions transverse to B. Depressions in the magnetic field strength of the order of 5% of the ambient field strength (60nT to 135nT) were observed at the boundaries of the cavities in more than half of the cases; they were probably produced by currents flowing transverse to B on the boundaries. In some cases, the magnetic field strength inside the cavities was a few percent higher than the ambient value. This gives an upper limit on β=nkT/(B 2 /8π) outside the cavities, viz. Beta 2.5 MeV protons was strongly anti-correlated with the plasma density, the flux being higher inside the cavities than outside. One possible mechanism for the production of these flux enhancements and the cavities themselves is a local, magnetic field-aligned electric field, E. It is possible that Ganymede is responsible for the energetic protons in the cavities, in which case vertical-bar E vertical-barapprox.50 mV/m. Such a localized source implies radial motions of the magnetospheric plasma with speeds of the order of a few hundred km/s. Such motions could be produced by long-wavelength, small-amplitude Alfven waves in Jupiter's magnetosphere

A Neural-Network-Based Nonlinear Adaptive State-Observer for Pressurized Water Reactors

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Zhe Dong

2013-10-01

Full Text Available Although there have been some severe nuclear accidents such as Three Mile Island (USA, Chernobyl (Ukraine and Fukushima (Japan, nuclear fission energy is still a source of clean energy that can substitute for fossil fuels in a centralized way and in a great amount with commercial availability and economic competitiveness. Since the pressurized water reactor (PWR is the most widely used nuclear fission reactor, its safe, stable and efficient operation is meaningful to the current rebirth of the nuclear fission energy industry. Power-level regulation is an important technique which can deeply affect the operation stability and efficiency of PWRs. Compared with the classical power-level controllers, the advanced power-level regulators could strengthen both the closed-loop stability and control performance by feeding back the internal state-variables. However, not all of the internal state variables of a PWR can be obtained directly by measurements. To implement advanced PWR power-level control law, it is necessary to develop a state-observer to reconstruct the unmeasurable state-variables. Since a PWR is naturally a complex nonlinear system with parameters varying with power-level, fuel burnup, xenon isotope production, control rod worth and etc., it is meaningful to design a nonlinear observer for the PWR with adaptability to system uncertainties. Due to this and the strong learning capability of the multi-layer perceptron (MLP neural network, an MLP-based nonlinear adaptive observer is given for PWRs. Based upon Lyapunov stability theory, it is proved theoretically that this newly-built observer can provide bounded and convergent state-observation. This observer is then applied to the state-observation of a special PWR, i.e., the nuclear heating reactor (NHR, and numerical simulation results not only verify its feasibility but also give the relationship between the observation performance and observer parameters.

Active disturbance rejection controller for chemical reactor

International Nuclear Information System (INIS)

Both, Roxana; Dulf, Eva H.; Muresan, Cristina I.

2015-01-01

In the petrochemical industry, the synthesis of 2 ethyl-hexanol-oxo-alcohols (plasticizers alcohol) is of high importance, being achieved through hydrogenation of 2 ethyl-hexenal inside catalytic trickle bed three-phase reactors. For this type of processes the use of advanced control strategies is suitable due to their nonlinear behavior and extreme sensitivity to load changes and other disturbances. Due to the complexity of the mathematical model an approach was to use a simple linear model of the process in combination with an advanced control algorithm which takes into account the model uncertainties, the disturbances and command signal limitations like robust control. However the resulting controller is complex, involving cost effective hardware. This paper proposes a simple integer-order control scheme using a linear model of the process, based on active disturbance rejection method. By treating the model dynamics as a common disturbance and actively rejecting it, active disturbance rejection control (ADRC) can achieve the desired response. Simulation results are provided to demonstrate the effectiveness of the proposed method

Active disturbance rejection controller for chemical reactor

Energy Technology Data Exchange (ETDEWEB)

Both, Roxana; Dulf, Eva H.; Muresan, Cristina I., E-mail: roxana.both@aut.utcluj.ro [Technical University of Cluj-Napoca, 400114 Cluj-Napoca (Romania)

2015-03-10

In the petrochemical industry, the synthesis of 2 ethyl-hexanol-oxo-alcohols (plasticizers alcohol) is of high importance, being achieved through hydrogenation of 2 ethyl-hexenal inside catalytic trickle bed three-phase reactors. For this type of processes the use of advanced control strategies is suitable due to their nonlinear behavior and extreme sensitivity to load changes and other disturbances. Due to the complexity of the mathematical model an approach was to use a simple linear model of the process in combination with an advanced control algorithm which takes into account the model uncertainties, the disturbances and command signal limitations like robust control. However the resulting controller is complex, involving cost effective hardware. This paper proposes a simple integer-order control scheme using a linear model of the process, based on active disturbance rejection method. By treating the model dynamics as a common disturbance and actively rejecting it, active disturbance rejection control (ADRC) can achieve the desired response. Simulation results are provided to demonstrate the effectiveness of the proposed method.

Design and Application of Offset-Free Model Predictive Control Disturbance Observation Method

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Xue Wang

2016-01-01

Full Text Available Model predictive control (MPC with its lower request to the mathematical model, excellent control performance, and convenience online calculation has developed into a very important subdiscipline with rich theory foundation and practical application. However, unmeasurable disturbance is widespread in industrial processes, which is difficult to deal with directly at present. In most of the implemented MPC strategies, the method of incorporating a constant output disturbance into the process model is introduced to solve this problem, but it fails to achieve offset-free control once the unmeasured disturbances access the process. Based on the Kalman filter theory, the problem is solved by using a more general disturbance model which is superior to the constant output disturbance model. This paper presents the necessary conditions for offset-free model predictive control based on the model. By applying disturbance model, the unmeasurable disturbance vectors are augmented as the states of control system, and the Kalman filer is used to estimate unmeasurable disturbance and its effect on the output. Then, the dynamic matrix control (DMC algorithm is improved by utilizing the feed-forward compensation control strategy with the disturbance estimated.

A Linear Active Disturbance Rejection Control for a Ball and Rigid Triangle System

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Carlos Aguilar-Ibanez

2016-01-01

Full Text Available This paper proposes an application of linear flatness control along with active disturbance rejection control (ADRC for the local stabilization and trajectory tracking problems in the underactuated ball and rigid triangle system. To this end, an observer-based linear controller of the ADRC type is designed based on the flat tangent linearization of the system around its corresponding unstable equilibrium rest position. It was accomplished through two decoupled linear extended observers and a single linear output feedback controller, with disturbance cancelation features. The controller guarantees locally exponentially asymptotic stability for the stabilization problem and practical local stability in the solution of the tracking error. An advantage of combining the flatness and the ADRC methods is that it possible to perform online estimates and cancels the undesirable effects of the higher-order nonlinearities discarded by the linearization approximation. Simulation indicates that the proposed controller behaves remarkably well, having an acceptable domain of attraction.

Nonlinear H-infinity control, Hamiltonian systems and Hamilton-Jacobi equations

CERN Document Server

Aliyu, MDS

2011-01-01

A comprehensive overview of nonlinear Haeu control theory for both continuous-time and discrete-time systems, Nonlinear Haeu-Control, Hamiltonian Systems and Hamilton-Jacobi Equations covers topics as diverse as singular nonlinear Haeu-control, nonlinear Haeu -filtering, mixed H2/ Haeu-nonlinear control and filtering, nonlinear Haeu-almost-disturbance-decoupling, and algorithms for solving the ubiquitous Hamilton-Jacobi-Isaacs equations. The link between the subject and analytical mechanics as well as the theory of partial differential equations is also elegantly summarized in a single chapter

Improved algorithm for solving nonlinear parabolized stability equations

Science.gov (United States)

Zhao, Lei; Zhang, Cun-bo; Liu, Jian-xin; Luo, Ji-sheng

2016-08-01

Due to its high computational efficiency and ability to consider nonparallel and nonlinear effects, nonlinear parabolized stability equations (NPSE) approach has been widely used to study the stability and transition mechanisms. However, it often diverges in hypersonic boundary layers when the amplitude of disturbance reaches a certain level. In this study, an improved algorithm for solving NPSE is developed. In this algorithm, the mean flow distortion is included into the linear operator instead of into the nonlinear forcing terms in NPSE. An under-relaxation factor for computing the nonlinear terms is introduced during the iteration process to guarantee the robustness of the algorithm. Two case studies, the nonlinear development of stationary crossflow vortices and the fundamental resonance of the second mode disturbance in hypersonic boundary layers, are presented to validate the proposed algorithm for NPSE. Results from direct numerical simulation (DNS) are regarded as the baseline for comparison. Good agreement can be found between the proposed algorithm and DNS, which indicates the great potential of the proposed method on studying the crossflow and streamwise instability in hypersonic boundary layers. Project supported by the National Natural Science Foundation of China (Grant Nos. 11332007 and 11402167).

NONLINEAR EVOLUTION OF GLOBAL HYDRODYNAMIC SHALLOW-WATER INSTABILITY IN THE SOLAR TACHOCLINE

International Nuclear Information System (INIS)

Dikpati, Mausumi

2012-01-01

We present a fully nonlinear hydrodynamic 'shallow-water' model of the solar tachocline. The model consists of a global spherical shell of differentially rotating fluid, which has a deformable top, thus allowing motions in radial directions along with latitudinal and longitudinal directions. When the system is perturbed, in the course of its nonlinear evolution it can generate unstable low-frequency shallow-water shear modes from the differential rotation, high-frequency gravity waves, and their interactions. Radiative and overshoot tachoclines are characterized in this model by high and low effective gravity values, respectively. Building a semi-implicit spectral scheme containing very low numerical diffusion, we perform nonlinear evolution of shallow-water modes. Our first results show that (1) high-latitude jets or polar spin-up occurs due to nonlinear evolution of unstable hydrodynamic shallow-water disturbances and differential rotation, (2) Reynolds stresses in the disturbances together with changing shell thickness and meridional flow are responsible for the evolution of differential rotation, (3) disturbance energy primarily remains concentrated in the lowest longitudinal wavenumbers, (4) an oscillation in energy between perturbed and unperturbed states occurs due to evolution of these modes in a nearly dissipation-free system, and (5) disturbances are geostrophic, but occasional nonadjustment in geostrophic balance can occur, particularly in the case of high effective gravity, leading to generation of gravity waves. We also find that a linearly stable differential rotation profile remains nonlinearly stable.

Adaptive H∞ synchronization of chaotic systems via linear and nonlinear feedback control

International Nuclear Information System (INIS)

Fu Shi-Hui; Lu Qi-Shao; Du Ying

2012-01-01

Adaptive H ∞ synchronization of chaotic systems via linear and nonlinear feedback control is investigated. The chaotic systems are redesigned by using the generalized Hamiltonian systems and observer approach. Based on Lyapunov's stability theory, linear and nonlinear feedback control of adaptive H ∞ synchronization is established in order to not only guarantee stable synchronization of both master and slave systems but also reduce the effect of external disturbance on an H ∞ -norm constraint. Adaptive H ∞ synchronization of chaotic systems via three kinds of control is investigated with applications to Lorenz and Chen systems. Numerical simulations are also given to identify the effectiveness of the theoretical analysis. (general)

Observation of disturbance in the lower ionosphere due to standard very low frequency transmission

International Nuclear Information System (INIS)

Muraoka, Yoshikazu; Murata, Hiroo; Sato, Teruo

1976-01-01

A number of trials to make clear the disturbance phenomena of the lower ionosphere have been carried out by observing the phase and intensity of standard very low frequency waves. Here, the sudden phase anomaly (SPA) and the storm after-effect are discussed, based on the data obtained so far. In the observation of VLF waves, the height of reflecting point of the ionosphere is lowered by the ionization with solar X-ray accompanying flares, and the phase angle generally advances. The SPS was observed to determine the quantitative relation between this phase deviation and the solar X-ray flux as a function of solar zenith angle. The lower ionosphere disturbance which occurs subsequently to magnetic storm is a phenomenon specific to middle latitudes, and called storm after-effect. The observations were carried out to clarify the form of the after-effect by comparing its characteristics with the result of theoretical discussions. Concerning the storm after-effect, it was made clear that its duration considerably changed with the value of Dst, and it showed a different aspect during winter. It was also made clear that a part of the complicated aspect of phase angle change in winter was caused by the storm after-effect. (Wakatsuki, Y.)

The system of nonlinear adaptive control for wind turbine with DFIG

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Mikhail Medvedev

2014-12-01

Full Text Available This paper presents a problem solution of the stable voltage generating in the changing terms of environment for the double-fed induction generator (DFIG. For this, in nonlinear multivariable systems, such as mathematical model of DFIG, the method of observer’s synthesis for external, parametric and structural disturbances was used. This allows, on the basis of disturbances approximation, to carry out an evaluation under conditions of uncertainty, leading to disturbances adaptation with a priori unknown structure. The work presents a synthesis method of control system, allowing to solve indicated problem. Stand-alone wind turbine used as a power plant with DFIG. The control system uses the original nonlinear mathematical model of the DFIG in rotating “dq” coordinates, taking into account non-linear changes in the parameters. To confirm the effectiveness of the problem solution, mathematical computer model was developed. The paper also presents the results of full-scale simulation.

Simultaneous observation of traveling ionospheric disturbances in the Northern and Southern Hemispheres

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C. E. Valladares

2009-04-01

Full Text Available Measurements of total electron content (TEC using 263 GPS receivers located in the North and South America continents are presented to demonstrate the simultaneous existence of traveling ionospheric disturbances (TID at high, mid, and low latitudes, and in both Northern and Southern Hemispheres. The TID observations pertain to the magnetically disturbed period of 29–30 October 2003 also known as the Halloween storm. The excellent quality of the TEC measurements makes it possible to calculate and remove the diurnal variability of TEC and then estimate the amplitude, wavelength, spectral characteristics of the perturbations, and the approximate velocity of the AGW. On 29 October 2003 between 17:00 and 19:00 UT, there existed a sequence of TEC perturbations (TECP, which were associated with the transit of atmospheric gravity waves (AGW propagating from both auroral regions toward the geographic equator. A marked difference was found between the northern and southern perturbations. In the Northern Hemisphere, the preferred horizontal wavelength varies between 1500 and 1800 km; the propagation velocity is near 700 m/s and the perturbation amplitude about 1 TEC unit (TECu. South of the geographic equator the wavelength of the TECP is as large as 2700 km, the velocity is about 550 m/s, and the TECP amplitude is 3 TECu. Concurrently with our observations, the Jicamarca digisonde observed virtual height traces that exhibited typical features that are associated with TIDs. Here, it is suggested that differences in the local conductivity between northern and southern auroral ovals create a different Joule heating energy term. The quality of these observations illustrates the merits of GPS receivers to probe the ionosphere and thermosphere.

Sliding Mode Disturbance Observer-Based Fractional Second-Order Nonsingular Terminal Sliding Mode Control for PMSM Position Regulation System

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Hong-Ru Li

2015-01-01

Full Text Available This paper investigates the position regulation problem of permanent magnet synchronous motor (PMSM subject to parameter uncertainties and external disturbances. A novel fractional second-order nonsingular terminal sliding mode control (F2NTSMC is proposed and the finite time stability of the closed-loop system is ensured. A sliding mode disturbance observer (SMDO is developed to estimate and make feedforward compensation for the lumped disturbances of the PMSM system. Moreover, the finite-time convergence of estimation errors can be guaranteed. The control scheme combining F2NTSMC and SMDO can not only improve performance of the closed-loop system and attenuate disturbances, but also reduce chattering effectively. Simulation results show that the proposed control method can obtain satisfactory position tracking performance and strong robustness.

United States forest disturbance trends observed with landsat time series

Science.gov (United States)

Jeffrey G. Masek; Samuel N. Goward; Robert E. Kennedy; Warren B. Cohen; Gretchen G. Moisen; Karen Schleweiss; Chengquan. Huang

2013-01-01

Disturbance events strongly affect the composition, structure, and function of forest ecosystems; however, existing US land management inventories were not designed to monitor disturbance. To begin addressing this gap, the North American Forest Dynamics (NAFD) project has examined a geographic sample of 50 Landsat satellite image time series to assess trends in forest...

Nonlinear modelling of polymer electrolyte membrane fuel cell stack using nonlinear cancellation technique

Energy Technology Data Exchange (ETDEWEB)

Barus, R. P. P., E-mail: rismawan.ppb@gmail.com [Engineering Physics, Faculty of Industrial Technology, Institut Teknologi Bandung, Jalan Ganesa 10 Bandung and Centre for Material and Technical Product, Jalan Sangkuriang No. 14 Bandung (Indonesia); Tjokronegoro, H. A.; Leksono, E. [Engineering Physics, Faculty of Industrial Technology, Institut Teknologi Bandung, Jalan Ganesa 10 Bandung (Indonesia); Ismunandar [Chemistry Study, Faculty of Mathematics and Science, Institut Teknologi Bandung, Jalan Ganesa 10 Bandung (Indonesia)

2014-09-25

Fuel cells are promising new energy conversion devices that are friendly to the environment. A set of control systems are required in order to operate a fuel cell based power plant system optimally. For the purpose of control system design, an accurate fuel cell stack model in describing the dynamics of the real system is needed. Currently, linear model are widely used for fuel cell stack control purposes, but it has limitations in narrow operation range. While nonlinear models lead to nonlinear control implemnetation whos more complex and hard computing. In this research, nonlinear cancellation technique will be used to transform a nonlinear model into a linear form while maintaining the nonlinear characteristics. The transformation is done by replacing the input of the original model by a certain virtual input that has nonlinear relationship with the original input. Then the equality of the two models is tested by running a series of simulation. Input variation of H2, O2 and H2O as well as disturbance input I (current load) are studied by simulation. The error of comparison between the proposed model and the original nonlinear model are less than 1 %. Thus we can conclude that nonlinear cancellation technique can be used to represent fuel cell nonlinear model in a simple linear form while maintaining the nonlinear characteristics and therefore retain the wide operation range.

Nonlinear modelling of polymer electrolyte membrane fuel cell stack using nonlinear cancellation technique

International Nuclear Information System (INIS)

Barus, R. P. P.; Tjokronegoro, H. A.; Leksono, E.; Ismunandar

2014-01-01

Fuel cells are promising new energy conversion devices that are friendly to the environment. A set of control systems are required in order to operate a fuel cell based power plant system optimally. For the purpose of control system design, an accurate fuel cell stack model in describing the dynamics of the real system is needed. Currently, linear model are widely used for fuel cell stack control purposes, but it has limitations in narrow operation range. While nonlinear models lead to nonlinear control implemnetation whos more complex and hard computing. In this research, nonlinear cancellation technique will be used to transform a nonlinear model into a linear form while maintaining the nonlinear characteristics. The transformation is done by replacing the input of the original model by a certain virtual input that has nonlinear relationship with the original input. Then the equality of the two models is tested by running a series of simulation. Input variation of H2, O2 and H2O as well as disturbance input I (current load) are studied by simulation. The error of comparison between the proposed model and the original nonlinear model are less than 1 %. Thus we can conclude that nonlinear cancellation technique can be used to represent fuel cell nonlinear model in a simple linear form while maintaining the nonlinear characteristics and therefore retain the wide operation range

Nonlinear oscillation regime of electromagnetic disturbances in the equatorial F region

International Nuclear Information System (INIS)

Sazonov, S.V.

1990-01-01

Nonlinear oscillation regime of electromagnetic dicturbances within equatorial ionosphere F-region resulted from Rayleigh-Taylor instability, gradient-drift instability and recombination processes is investigated on the basis of two-liquid quasihydrodynamics equations. It is shown, that at positive linear increment the oscillations are developing in regime with aggregation and are terminated by increment the effect of threshold destabilization, when under certain initial conditions underlgoes oscillation nonlinear swinging, resulting, as well, in bubble formation in contrast to small damping oscillations, is detected

Disturbance observer-based control of a dual-output LLC converter for solid-state lighting applications

NARCIS (Netherlands)

Roes, M.G.L.; Duarte, J.L.; Hendrix, M.A.M.

2011-01-01

Feedback sensor isolation is often an expensive necessity in power converters, for reasons of safety and electromagnetic compatibility. A disturbance observer-based control strategy for a dual-output resonant converter is proposed to overcome this problem. Current control of two LED loads is

Disturbance observer-based control of a dual output LLC converter for solid state lighting applications

NARCIS (Netherlands)

Roes, M.G.L.; Duarte, J.L.; Hendrix, M.A.M.

2010-01-01

Feedback sensor isolation is often an expensive necessity in power converters, for reasons of safety and electromagnetic compatibility. A disturbance observer-based control strategy for a dual-output resonant converter is proposed to overcome this problem. Current control of two LED loads is

Nonlinear unknown input sliding mode observer based chaotic system synchronization and message recovery scheme with uncertainty

International Nuclear Information System (INIS)

Sharma, Vivek; Sharma, B.B.; Nath, R.

2017-01-01

In the present manuscript, observer based synchronization and message recovery scheme is discussed for a system with uncertainties. LMI conditions are analytically derived solution of which gives the observer design matrices. Earlier approaches have used adaptive laws to address the uncertainties, however in present work, decoupling approach is used to make observer robust against uncertainties. The methodology requires upper bounds on nonlinearity and the message signal and estimates for these bounds are generated adaptively. Thus no information about the nature of nonlinearity and associated Lipschitz constant is needed in proposed approach. Message signal is recovered using equivalent output injection which is a low pass filtered equivalent of the discontinuous effort required to maintain the sliding motion. Finally, the efficacy of proposed Nonlinear Unknown Input Sliding Mode Observer (NUISMO) for chaotic communication is verified by conducting simulation studies on two chaotic systems i.e. third order Chua circuit and Rossler system.

Disturbance observer-based adaptive sliding mode hybrid projective ...

Indian Academy of Sciences (India)

Ayub Khan

2018-04-21

Apr 21, 2018 ... systems, the effect of external disturbances, energy fluc- tuation and other such ...... When we apply the above proposed strategy to achieve hybrid projective ..... ory and intelligent control (Springer, 2016) pp. 681–. 697.

Neural network-based robust actuator fault diagnosis for a non-linear multi-tank system.

Science.gov (United States)

Mrugalski, Marcin; Luzar, Marcel; Pazera, Marcin; Witczak, Marcin; Aubrun, Christophe

2016-03-01

The paper is devoted to the problem of the robust actuator fault diagnosis of the dynamic non-linear systems. In the proposed method, it is assumed that the diagnosed system can be modelled by the recurrent neural network, which can be transformed into the linear parameter varying form. Such a system description allows developing the designing scheme of the robust unknown input observer within H∞ framework for a class of non-linear systems. The proposed approach is designed in such a way that a prescribed disturbance attenuation level is achieved with respect to the actuator fault estimation error, while guaranteeing the convergence of the observer. The application of the robust unknown input observer enables actuator fault estimation, which allows applying the developed approach to the fault tolerant control tasks. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Disturbance observer based Takagi-Sugeno fuzzy control for an active seat suspension

Science.gov (United States)

Ning, Donghong; Sun, Shuaishuai; Zhang, Fei; Du, Haiping; Li, Weihua; Zhang, Bangji

2017-09-01

In this paper, a disturbance observer based Takagi-Sugeno (TS) fuzzy controller is proposed for an active seat suspension; both simulations and experiments have been performed verifying the performance enhancement and stability of the proposed controller. The controller incorporates closed-loop feedback control using the measured acceleration of the seat and deflection of the suspension; these two variables can be easily measured in practical applications, thus allowing the proposed controller to be robust and adaptable. A disturbance observer that can estimate the disturbance caused by friction, model simplification, and controller output error has also been used to compensate a H∞ state feedback controller. The TS fuzzy control method is applied to enhance the controller's performance by considering the variation of driver's weight during operation. The vibration of a heavy duty vehicle seat is largest in the frequency range between 2 Hz and 4 Hz, in the vertical direction; therefore, it is reasonable to focus on controlling low frequency vibration amplitudes and maintain the seat suspensions passivity at high frequency. Moreover, both the simulation and experimental results show that the active seat suspension with the proposed controller can effectively isolate unwanted vibration amplitudes below 4.5 Hz, when compared with a well-tuned passive seat suspension. The active controller has been further validated under bump and random road tests with both a 55 kg and a 70 kg loads. The bump road test demonstrated the controller has good transient response capabilities. The random road test result has been presented both in the time domain and the frequency domain. When with the above two loads, the controlled seat suspensions root-mean-square (RMS) accelerations were reduced by 45.5% and 49.5%, respectively, compared with a well-tuned passive seat suspension. The proposed active seat suspension controller has great potential and is very practical for application

Traveling Ionospheric Disturbances Observed by Midlatitude SuperDARN Radars

Science.gov (United States)

Frissell, N. A.; Baker, J. B.; Ruohoniemi, J. M.; West, M. L.; Bristow, W. A.

2012-12-01

Medium Scale Traveling Ionospheric Disturbances (MSTIDs) are wave-like perturbations of the F-region ionosphere with horizontal wavelengths on the order of 100-250 km and periods between ~15 - 60 min, and are generally thought to be the ionospheric manifestation of Atmospheric Gravity Waves (AGWs). High-latitude MSTIDs have been studied using SuperDARN radars since 1989, and are typically attributed to auroral sources and propagated by the Earth Reflected Wave (ERW) mode. Tropospheric sources and earthquakes are also known to be sources of MSTIDs. Observations of MSTIDs using both mid- and high- latitude SuperDARN radars are presented. North American radar data from November 2010 - November 2011 were searched for signatures of MSTIDs. Initial results suggest that MSTIDs are observed at high latitudes primarily in the fall/winter months, which is consistent with published results. This search also reveals that mid-latitude MSTIDs often appear concurrently with high-latitude MSTIDs and share similar wave parameters. During the fall/winter months, SuperDARN mid-latitude MSTIDs appear more often than high-latitude MSTIDs, likely due to calmer ionospheric conditions at mid-latitudes. In the springtime, SuperDARN-observed MSTIDs are less likely to be seen at high-latitudes, but still appear at mid-latitudes. Selected events are analyzed for wave parameters using the Multiple Signal Classification (MUSIC) technique.

A new fuzzy-disturbance observer-enhanced sliding controller for vibration control of a train-car suspension with magneto-rheological dampers

Science.gov (United States)

Nguyen, Sy Dzung; Choi, Seung-Bok; Nguyen, Quoc Hung

2018-05-01

Semi-active train-car suspensions are always impacted negatively by uncertainty and disturbance (UAD). In order to deal with this, we propose a novel optimal fuzzy disturbance observer-enhanced sliding mode controller (FDO-SMC) for magneto-rheological damper (MRD)-based semi-active train-car suspensions subjected to UAD whose variability rate may be high but bounded. The two main parts of the FDO-SMC are an adaptive sliding mode controller (ad-SMC) and an optimal fuzzy disturbance observer (op-FDO). As the first step, the initial structures of the sliding mode controller (SMC) and disturbance observer (DO) are built. Adaptive update laws for the SMC and DO are then set up synchronously via Lyapunov stability analysis. Subsequently, an optimal fuzzy system (op-FS) is designed to fully implement a parameter constraint mechanism so as to guarantee the system stability converging to the desired state even if the UAD variability rate increases in a given range. As a result, both the ad-SMC and op-FDO are formulated. It is shown from the comparative work with existing controllers that the proposed method provides the best vibration control capability with relatively low consumed power.

Examples of pipeline monitoring with nonlinear observers and real-data validation

International Nuclear Information System (INIS)

Torres, L.; Besancon, G.; Georges, D.; Navarro, A.; Begovich, O.

2011-01-01

This article shows how nonlinear observers can be used as tools for the monitoring of pipelines. In particular two observer approaches for two different applications are presented: a one-leak detection and isolation problem on the one the hand, and the same problem with friction estimation in addition on the other hand. In the first case, the system which represents the pipeline with a leak satisfies some uniform observability condition allowing for the design of a classical ''high gain'' observer. In the second case, the system is no longer uniformly observable, but still satisfies the observability rank condition, and an Extended Kalman Filter is proposed, under the use of exciting inputs. In both cases, experimental results are provided.

Neural-network-observer-based optimal control for unknown nonlinear systems using adaptive dynamic programming

Science.gov (United States)

Liu, Derong; Huang, Yuzhu; Wang, Ding; Wei, Qinglai

2013-09-01

In this paper, an observer-based optimal control scheme is developed for unknown nonlinear systems using adaptive dynamic programming (ADP) algorithm. First, a neural-network (NN) observer is designed to estimate system states. Then, based on the observed states, a neuro-controller is constructed via ADP method to obtain the optimal control. In this design, two NN structures are used: a three-layer NN is used to construct the observer which can be applied to systems with higher degrees of nonlinearity and without a priori knowledge of system dynamics, and a critic NN is employed to approximate the value function. The optimal control law is computed using the critic NN and the observer NN. Uniform ultimate boundedness of the closed-loop system is guaranteed. The actor, critic, and observer structures are all implemented in real-time, continuously and simultaneously. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control scheme.

A Conic Sector-Based Methodology for Nonlinear Control Design

OpenAIRE

Doyle, Francis J., III; Morari, Manfred

1990-01-01

A design method is presented for the analysis and synthesis of robust nonlinear controllers for chemical engineering systems. The method rigorously treats the effect of unmeasured disturbances and unmodeled dynamics on the stability and performance properties of a nonlinear system. The results utilise new extensions of structured singular value theory for analysis and recent synthesis results for approximate linearisation.

Robust Helicopter Stabilization in the Face of Wind Disturbance

DEFF Research Database (Denmark)

A. Danapalasingam, Kumeresan; Leth, John-Josef; la Cour-Harbo, Anders

2010-01-01

When a helicopter is required to hover with minimum deviations from a desired position without measurements of an affecting persistent wind disturbance, a robustly stabilizing control action is vital. In this paper, the stabilization of the position and translational velocity of a nonlinear...... controller is then designed based on nonlinear adaptive output regulations and robust stabilization of a chain of integrators by a saturated feedback. Simulation results show the effectiveness of the control design in the stabilization of helicopter motion and the built-in robustness of the controller...

Observation and measurement of interaction-induced dispersive optical nonlinearities in an ensemble of cold rydberg atoms

DEFF Research Database (Denmark)

Parigi, V.; Bimbard, E.; Stanojevic, J.

2012-01-01

We observe and measure dispersive optical nonlinearities in an ensemble of cold Rydberg atoms placed inside an optical cavity. The experimental results are in agreement with a simple model where the optical nonlinearities are due to the progressive appearance of a Rydberg blockaded volume within...

Ensemble Kalman Filtering with Residual Nudging: An Extension to State Estimation Problems with Nonlinear Observation Operators

KAUST Repository

Luo, Xiaodong

2014-10-01

The ensemble Kalman filter (EnKF) is an efficient algorithm for many data assimilation problems. In certain circumstances, however, divergence of the EnKF might be spotted. In previous studies, the authors proposed an observation-space-based strategy, called residual nudging, to improve the stability of the EnKF when dealing with linear observation operators. The main idea behind residual nudging is to monitor and, if necessary, adjust the distances (misfits) between the real observations and the simulated ones of the state estimates, in the hope that by doing so one may be able to obtain better estimation accuracy. In the present study, residual nudging is extended and modified in order to handle nonlinear observation operators. Such extension and modification result in an iterative filtering framework that, under suitable conditions, is able to achieve the objective of residual nudging for data assimilation problems with nonlinear observation operators. The 40-dimensional Lorenz-96 model is used to illustrate the performance of the iterative filter. Numerical results show that, while a normal EnKF may diverge with nonlinear observation operators, the proposed iterative filter remains stable and leads to reasonable estimation accuracy under various experimental settings.

Experimental observation of azimuthal shock waves on nonlinear acoustical vortices

International Nuclear Information System (INIS)

Brunet, Thomas; Thomas, Jean-Louis; Marchiano, Regis; Coulouvrat, Francois

2009-01-01

Thanks to a new focused array of piezoelectric transducers, experimental results are reported here to evidence helical acoustical shock waves resulting from the nonlinear propagation of acoustical vortices (AVs). These shock waves have a three-dimensional spiral shape, from which both the longitudinal and azimuthal components are studied. The inverse filter technique used to synthesize AVs allows various parameters to be varied, especially the topological charge which is the key parameter describing screw dislocations. Firstly, an analysis of the longitudinal modes in the frequency domain reveals a wide cascade of harmonics (up to the 60th order) leading to the formation of the shock waves. Then, an original measurement in the transverse plane exhibits azimuthal behaviour which has never been observed until now for acoustical shock waves. Finally, these new experimental results suggest interesting potential applications of nonlinear effects in terms of acoustics spanners in order to manipulate small objects.

Quasi-minimal active disturbance rejection control of MIMO perturbed linear systems based on differential neural networks and the attractive ellipsoid method.

Science.gov (United States)

Salgado, Iván; Mera-Hernández, Manuel; Chairez, Isaac

2017-11-01

This study addresses the problem of designing an output-based controller to stabilize multi-input multi-output (MIMO) systems in the presence of parametric disturbances as well as uncertainties in the state model and output noise measurements. The controller design includes a linear state transformation which separates uncertainties matched to the control input and the unmatched ones. A differential neural network (DNN) observer produces a nonlinear approximation of the matched perturbation and the unknown states simultaneously in the transformed coordinates. This study proposes the use of the Attractive Ellipsoid Method (AEM) to optimize the gains of the controller and the gain observer in the DNN structure. As a consequence, the obtained control input minimizes the convergence zone for the estimation error. Moreover, the control design uses the estimated disturbance provided by the DNN to obtain a better performance in the stabilization task in comparison with a quasi-minimal output feedback controller based on a Luenberger observer and a sliding mode controller. Numerical results pointed out the advantages obtained by the nonlinear control based on the DNN observer. The first example deals with the stabilization of an academic linear MIMO perturbed system and the second example stabilizes the trajectories of a DC-motor into a predefined operation point. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Leveraging Disturbance Observer Based Torque Control for Improved Impedance Rendering with Series Elastic Actuators

Science.gov (United States)

Mehling, Joshua S.; Holley, James; O'Malley, Marcia K.

2015-01-01

The fidelity with which series elastic actuators (SEAs) render desired impedances is important. Numerous approaches to SEA impedance control have been developed under the premise that high-precision actuator torque control is a prerequisite. Indeed, the design of an inner torque compensator has a significant impact on actuator impedance rendering. The disturbance observer (DOB) based torque control implemented in NASA's Valkyrie robot is considered here and a mathematical model of this torque control, cascaded with an outer impedance compensator, is constructed. While previous work has examined the impact a disturbance observer has on torque control performance, little has been done regarding DOBs and impedance rendering accuracy. Both simulation and a series of experiments are used to demonstrate the significant improvements possible in an SEA's ability to render desired dynamic behaviors when utilizing a DOB. Actuator transparency at low impedances is improved, closed loop hysteresis is reduced, and the actuator's dynamic response to both commands and interaction torques more faithfully matches that of the desired model. All of this is achieved by leveraging DOB based control rather than increasing compensator gains, thus making improved SEA impedance control easier to achieve in practice.

Nonlinear behavior of the radiative condensation instability

International Nuclear Information System (INIS)

McCarthy, D.; Drake, J.F.

1991-01-01

An investigation of the nonlinear behavior of the radiative condensation instability is presented in a simple one-dimensional magnetized plasma. It is shown that the radiative condensation is typically a nonlinear instability---the growth of the instability is stronger once the disturbance reaches finite amplitude. Moreover, classical parallel thermal conduction is insufficient by itself to saturate the instability. Radiative collapse continues until the temperature in the high density condensation falls sufficiently to reduce the radiation rate

Fault diagnosis of an intelligent hydraulic pump based on a nonlinear unknown input observer

Directory of Open Access Journals (Sweden)

Zhonghai MA

2018-02-01

Full Text Available Hydraulic piston pumps are commonly used in aircraft. In order to improve the viability of aircraft and energy efficiency, intelligent variable pressure pump systems have been used in aircraft hydraulic systems more and more widely. Efficient fault diagnosis plays an important role in improving the reliability and performance of hydraulic systems. In this paper, a fault diagnosis method of an intelligent hydraulic pump system (IHPS based on a nonlinear unknown input observer (NUIO is proposed. Different from factors of a full-order Luenberger-type unknown input observer, nonlinear factors of the IHPS are considered in the NUIO. Firstly, a new type of intelligent pump is presented, the mathematical model of which is established to describe the IHPS. Taking into account the real-time requirements of the IHPS and the special structure of the pump, the mechanism of the intelligent pump and failure modes are analyzed and two typical failure modes are obtained. Furthermore, a NUIO of the IHPS is performed based on the output pressure and swashplate angle signals. With the residual error signals produced by the NUIO, online intelligent pump failure occurring in real-time can be detected. Lastly, through analysis and simulation, it is confirmed that this diagnostic method could accurately diagnose and isolate those typical failure modes of the nonlinear IHPS. The method proposed in this paper is of great significance in improving the reliability of the IHPS. Keywords: Fault diagnosis, Hydraulic piston pump, Model-based, Nonlinear unknown input observer (NUIO, Residual error

Structural Observability and Sensor Node Selection for Complex Networks Governed by Nonlinear Balance Equations

NARCIS (Netherlands)

Kawano, Yu; Cao, Ming

2017-01-01

We define and then study the structural observability for a class of complex networks whose dynamics are governed by the nonlinear balance equations. Although related notions of observability of such complex networks have been studied before and in particular, necessary conditions have been reported

Nonlinear evolution of Mack modes in a hypersonic boundary layer

Science.gov (United States)

Chokani, Ndaona

2005-01-01

In hypersonic boundary layer flows the nonlinear disturbance evolution occurs relatively slowly over a very long length scale and has a profound effect on boundary layer transition. In the case of low-level freestream disturbances and negligible surface roughness, the transition is due to the modal growth of exponentially growing Mack modes that are destabilized by wall cooling. Cross-bicoherence measurements, derived from hot-wire data acquired in a quiet hypersonic tunnel, are used to identify and quantify phase-locked, quadratic sum and difference interactions involving the Mack modes. In the early stages of the nonlinear disturbance evolution, cross-bicoherence measurements indicate that the energy exchange between the Mack mode and the mean flow first occurs to broaden the sidebands; this is immediately followed by a sum interaction of the Mack mode to generate the first harmonic. In the next stages of the nonlinear disturbance evolution, there is a difference interaction of the first harmonic, which is also thought to contribute to the mean flow distortion. This difference interaction, in the latter stages, is also accompanied by a difference interaction between Mack mode and first harmonic, and a sum interaction, which forces the second harmonic. Analysis using the digital complex demodulation technique, shows that the low-frequency, phase-locked interaction that is identified in the cross bicoherence when the Mack mode and first harmonic have large amplitudes, arises due to the amplitude modulation of Mack mode and first harmonic.

Synthesis of robust nonlinear autopilots using differential game theory

Science.gov (United States)

Menon, P. K. A.

1991-01-01

A synthesis technique for handling unmodeled disturbances in nonlinear control law synthesis was advanced using differential game theory. Two types of modeling inaccuracies can be included in the formulation. The first is a bias-type error, while the second is the scale-factor-type error in the control variables. The disturbances were assumed to satisfy an integral inequality constraint. Additionally, it was assumed that they act in such a way as to maximize a quadratic performance index. Expressions for optimal control and worst-case disturbance were then obtained using optimal control theory.

Observations of linear and nonlinear processes in the foreshock wave evolution

Directory of Open Access Journals (Sweden)

Y. Narita

2007-07-01

Full Text Available Waves in the foreshock region are studied on the basis of a hypothesis that the linear process first excites the waves and further wave-wave nonlinearities distribute scatter the energy of the primary waves into a number of daughter waves. To examine this wave evolution scenario, the dispersion relations, the wave number spectra of the magnetic field energy, and the dimensionless cross helicity are determined from the observations made by the four Cluster spacecraft. The results confirm that the linear process is the ion/ion right-hand resonant instability, but the wave-wave interactions are not clearly identified. We discuss various reasons why the test for the wave-wave nonlinearities fails, and conclude that the higher order statistics would provide a direct evidence for the wave coupling phenomena.

A Nonlinear Observer for Integration of GPS and Inertial Navigation Systems

Directory of Open Access Journals (Sweden)

Bjørnar Vik

2000-10-01

Full Text Available GPS and INS have complementary properties and they are therefore well suited for integration. The integrated solution offers better long term accuracy than a stand-alone INS, and better integrity, availability and continuity than a stand-alone GPS receiver, making it suitable for demanding applications. The integrated filter is nonlinear both in state and measurements, and the extended Kalman-filter has been used with good results, but it has not been proven globally stable, and it is also computationally intensive, especially within a direct integration architecture. In this work a nonlinear observer suitable for direct integration is presented. Global exponent ial stability of the origin of the combined attitude and velocity error systems is proven along with robust stability in the presence of noise and unmodelled dynamics.

Dissipative Control Systems and Disturbance Attenuation for Nonlinear H∞ Problems

International Nuclear Information System (INIS)

Frankowska, H.; Quincampoix, M.

1999-01-01

We characterize functions satisfying a dissipative inequality associated with a control problem. Such a characterization is provided in terms of an epicontingent solution, or a viscosity supersolution to a partial differential equation called Isaacs' equation. Links between supersolutions and epicontingent solutions to Isaacs' equation are studied. Finally, we derive (possibly discontinuous) disturbance attenuation feedback of the H ∞ problem from contingent formulation of Isaacs' equation

Nonlinear Transient Growth and Boundary Layer Transition

Science.gov (United States)

Paredes, Pedro; Choudhari, Meelan M.; Li, Fei

2016-01-01

Parabolized stability equations (PSE) are used in a variational approach to study the optimal, non-modal disturbance growth in a Mach 3 at plate boundary layer and a Mach 6 circular cone boundary layer. As noted in previous works, the optimal initial disturbances correspond to steady counter-rotating streamwise vortices, which subsequently lead to the formation of streamwise-elongated structures, i.e., streaks, via a lift-up effect. The nonlinear evolution of the linearly optimal stationary perturbations is computed using the nonlinear plane-marching PSE for stationary perturbations. A fully implicit marching technique is used to facilitate the computation of nonlinear streaks with large amplitudes. To assess the effect of the finite-amplitude streaks on transition, the linear form of plane- marching PSE is used to investigate the instability of the boundary layer flow modified by spanwise periodic streaks. The onset of bypass transition is estimated by using an N- factor criterion based on the amplification of the streak instabilities. Results show that, for both flow configurations of interest, streaks of sufficiently large amplitude can lead to significantly earlier onset of transition than that in an unperturbed boundary layer without any streaks.

Nonlinear decentralized robust governor control for hydroturbine-generator sets in multi-machine power systems

Energy Technology Data Exchange (ETDEWEB)

Qiang Lu; Yusong Sun; Yuanzhang Sun [Tsinghua University, Beijing (China). Dept. of Electrical Engineering; Felix F Wu; Yixin Ni [University of Hong Kong (China). Dept. of Electrical and Electronic Engineering; Yokoyama, Akihiko [University of Tokyo (Japan). Dept. of Electrical Engineering; Goto, Masuo; Konishi, Hiroo [Hitachi Ltd., Tokyo (Japan). Power System Div.

2004-06-01

A novel nonlinear decentralized robust governor control for hydroturbine-generator sets in multi-machine power systems is suggested in this paper. The nonelastic water hammer effect and disturbances are considered in the modeling. The advanced differential geometry theory, nonlinear robust control theory and the dynamic feedback method are combined to solve the problem. The nonlinear decentralized robust control law for the speed governor of hydroturbine-generators has been derived. The input signals to the proposed controller are all local measurements and independent to the system parameters. The derived control law guarantees the integrated system stability with disturbance attenuation, which is significant to the real power system application. Computer tests on an 8-machine, 36-bus power system show clearly the effectiveness of the new control strategy in transient stability enhancement and disturbance attenuation. The computer test results based on the suggested controller are compared favorably with those based on the conventional linear governor control. (author)

Design of a Polynomial Fuzzy Observer Controller With Sampled-Output Measurements for Nonlinear Systems Considering Unmeasurable Premise Variables

OpenAIRE

Liu, Chuang; Lam, H. K.

2015-01-01

In this paper, we propose a polynomial fuzzy observer controller for nonlinear systems, where the design is achieved through the stability analysis of polynomial-fuzzy-model-based (PFMB) observer-control system. The polynomial fuzzy observer estimates the system states using estimated premise variables. The estimated states are then employed by the polynomial fuzzy controller for the feedback control of nonlinear systems represented by the polynomial fuzzy model. The system stability of the P...

Nonlinear H∞ Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation

Directory of Open Access Journals (Sweden)

Zool H. Ismail

2013-01-01

Full Text Available A conventional region control technique cannot meet the demands for an accurate tracking performance in view of its inability to accommodate highly nonlinear system dynamics, imprecise hydrodynamic coefficients, and external disturbances. In this paper, a robust technique is presented for an Autonomous Underwater Vehicle (AUV with region tracking function. Within this control scheme, nonlinear H∞ and region based control schemes are used. A Lyapunov-like function is presented for stability analysis of the proposed control law. Numerical simulations are presented to demonstrate the performance of the proposed tracking control of the AUV. It is shown that the proposed control law is robust against parameter uncertainties, external disturbances, and nonlinearities and it leads to uniform ultimate boundedness of the region tracking error.

Transformation of nonlinear discrete-time system into the extended observer form

Science.gov (United States)

Kaparin, V.; Kotta, Ü.

2018-04-01

The paper addresses the problem of transforming discrete-time single-input single-output nonlinear state equations into the extended observer form, which, besides the input and output, also depends on a finite number of their past values. Necessary and sufficient conditions for the existence of both the extended coordinate and output transformations, solving the problem, are formulated in terms of differential one-forms, associated with the input-output equation, corresponding to the state equations. An algorithm for transformation of state equations into the extended observer form is proposed and illustrated by an example. Moreover, the considered approach is compared with the method of dynamic observer error linearisation, which likewise is intended to enlarge the class of systems transformable into an observer form.

Nonlinear Power-Level Control of the MHTGR Only with the Feedback Loop of Helium Temperature

Directory of Open Access Journals (Sweden)

Zhe Dong

2013-02-01

Full Text Available Power-level control is a crucial technique for the safe, stable and efficient operation of modular high temperature gas-cooled nuclear reactors (MHTGRs, which have strong inherent safety features and high outlet temperatures. The current power-level controllers of the MHTGRs need measurements of both the nuclear power and the helium temperature, which cannot provide satisfactory control performance and can even induce large oscillations when the neutron sensors are in error. In order to improve the fault tolerance of the control system, it is important to develop a power-level control strategy that only requires the helium temperature. The basis for developing this kind of control law is to give a state-observer of the MHTGR a relationship that only needs the measurement of helium temperature. With this in mind, a novel nonlinear state observer which only needs the measurement of helium temperature is proposed. This observer is globally convergent if there is no disturbance, and has the L2 disturbance attenuation performance if the disturbance is nonzero. The separation principle of this observer is also proven, which denotes that this observer can recover the performance of both globally asymptotic stabilizers and L2 disturbance attenuators. Then, a new dynamic output feedback power-level control strategy is established, which is composed of this observer and the well-built static state-feedback power-level control based upon iterative dissipation assignment (IDA-PLC. Finally, numerical simulation results show the high performance and feasibility of this newly-built dynamic output feedback power-level controller.

Most-Critical Transient Disturbances in an Incompressible Flat-Plate Boundary Layer

Science.gov (United States)

Monschke, Jason; White, Edward

2015-11-01

Transient growth is a linear disturbance growth mechanism that plays a key role in roughness-induced boundary-layer transition. It occurs when superposed stable, non-orthogonal continuous spectrum modes experience algebraic disturbance growth followed by exponential decay. Algebraic disturbance growth can modify the basic state making it susceptible to secondary instabilities rapidly leading to transition. Optimal disturbance theory was developed to model the most-dangerous disturbances. However, evidence suggests roughness-induced transient growth is sub-optimal yet leads to transition earlier than optimal theory suggests. This research computes initial disturbances most unstable to secondary instabilities to further develop the applicability of transient growth theory to surface roughness. The main approach is using nonlinear adjoint optimization with solutions of the parabolized Navier-Stokes and BiGlobal stability equations. Two objective functions were considered: disturbance kinetic energy growth and sinuous instability growth rate. The first objective function was used as validation of the optimization method. Counter-rotating streamwise vortices located low in the boundary layer maximize the sinuous instability growth rate. The authors would like to acknowledge NASA and the AFOSR for funding this work through AFOSR Grant FA9550-09-1-0341.

Perfect observables for the hierarchical non-linear O(N)-invariant σ-model

International Nuclear Information System (INIS)

Wieczerkowski, C.; Xylander, Y.

1995-05-01

We compute moving eigenvalues and the eigenvectors of the linear renormalization group transformation for observables along the renormalized trajectory of the hierarchical non-linear O(N)-invariant σ-model by means of perturbation theory in the running coupling constant. Moving eigenvectors are defined as solutions to a Callan-Symanzik type equation. (orig.)

Nonlinear Adaptive Descriptor Observer for the Joint States and Parameters Estimation

KAUST Repository

2016-08-29

In this note, the joint state and parameters estimation problem for nonlinear multi-input multi-output descriptor systems is considered. Asymptotic convergence of the adaptive descriptor observer is established by a sufficient set of linear matrix inequalities for the noise-free systems. The noise corrupted systems are also considered and it is shown that the state and parameters estimation errors are bounded for bounded noises. In addition, if the noises are bounded and have zero mean, then the estimation errors asymptotically converge to zero in the mean. The performance of the proposed adaptive observer is illustrated by a numerical example.

Nonlinear Adaptive Descriptor Observer for the Joint States and Parameters Estimation

KAUST Repository

Unknown author

2016-01-01

In this note, the joint state and parameters estimation problem for nonlinear multi-input multi-output descriptor systems is considered. Asymptotic convergence of the adaptive descriptor observer is established by a sufficient set of linear matrix inequalities for the noise-free systems. The noise corrupted systems are also considered and it is shown that the state and parameters estimation errors are bounded for bounded noises. In addition, if the noises are bounded and have zero mean, then the estimation errors asymptotically converge to zero in the mean. The performance of the proposed adaptive observer is illustrated by a numerical example.

Multivariable polynomial fitting of controlled single-phase nonlinear load of input current total harmonic distortion

Science.gov (United States)

Sikora, Roman; Markiewicz, Przemysław; Pabjańczyk, Wiesława

2018-04-01

The power systems usually include a number of nonlinear receivers. Nonlinear receivers are the source of disturbances generated to the power system in the form of higher harmonics. The level of these disturbances describes the total harmonic distortion coefficient THD. Its value depends on many factors. One of them are the deformation and change in RMS value of supply voltage. A modern LED luminaire is a nonlinear receiver as well. The paper presents the results of the analysis of the influence of change in RMS value of supply voltage and the level of dimming of the tested luminaire on the value of the current THD. The analysis was made using a mathematical model based on multivariable polynomial fitting.

H∞ control of Lur'e systems with sector and slope restricted nonlinearities

International Nuclear Information System (INIS)

Park, Ju H.; Ji, D.H.; Won, S.C.; Lee, S.M.; Choi, S.J.

2009-01-01

This Letter considers H ∞ controller design scheme for Lur'e systems with sector/slope restrictions and external disturbance. Based on Lyapunov theory and linear matrix inequality (LMI) formulation, a state feedback controller is designed to not only guarantee stability of systems but also reduce the effect of external disturbance to an H ∞ norm constraint. The nonlinearities are expressed as convex combinations of sector and slope bounds so that equality constraints are converted into inequality constraints using convex properties of the nonlinear function. Then, the stabilizing feedback gain matrix is derived through LMI formulation. Finally, a numerical example shows the effectiveness of the proposed method.

Tracking control of DC motors via mimo nonlinear fuzzy control

International Nuclear Information System (INIS)

Harb, Ahmad M.; Smadi, Issam A.

2009-01-01

This paper proposed a nonlinear controller for speed tracking of separately excited DC motors (SEDCM's) using the multi-input multi-output (MIMO) fuzzy logic controller (FLC's). Based on a nonlinear mathematical model of SEDCM, a FLC is designed to achieve high performance speed tracking through rejection load disturbance. Computer simulations are presented to show speed tracking performance and the effectiveness of the proposed controller.

Advanced nonlinear engine speed control systems

DEFF Research Database (Denmark)

Vesterholm, Thomas; Hendricks, Elbert

1994-01-01

Several subsidiary control problems have turned out to be important for improving driveability and fuel consumption in modern spark ignition (SI) engine cars. Among these are idle speed control and cruise control. In this paper the idle speed and cruise control problems will be treated as one......: accurately tracking of a desired engine speed in the presence of model uncertainties and severe load disturbances. This is accomplished by using advanced nonlinear control techniques such as input/output-linearization and sliding mode control. These techniques take advantage of a nonlinear model...... of the engine dynamics, a mean value engine model....

Nonlinear dynamical phenomena in liquid crystals

International Nuclear Information System (INIS)

Wang, X.Y.; Sun, Z.M.

1988-09-01

Because of the existence of the orientational order and anisotropy in liquid crystals, strong nonlinear phenomena and singular behaviors, such as solitary wave, transient periodic structure, chaos, fractal and viscous fingering, can be excited by a very small disturbance. These phenomena and behaviors are in connection with physics, biology and mathematics. 12 refs, 6 figs

Multispacecraft observations of the terrestrial bow shock and magnetopause during extreme solar wind disturbances

DEFF Research Database (Denmark)

Tatrallyay, M.; Erdos, G.; Nemeth, Z.

2012-01-01

by the Cluster spacecraft were best predicted by the 3-D model of Lin et al. (2010). The applied empirical bow shock models and the 3-D semi-empiric bow shock model combined with magnetohydrodynamic (MHD) solution proved to be insufficient for predicting the observed unusual bow shock locations during large...... interplanetary disturbances. The results of a global 3-D MHD model were in good agreement with the Cluster observations on 17 January 2005, but they did not predict the bow shock crossings on 31 October 2003....... of three magnetopause and four bow shock models which describe them in considerably different ways using statistical methods based on observations. A new 2-D magnetopause model is introduced (based on Verigin et al., 2009) which takes into account the pressure of the compressed magnetosheath field raised...

A novel method for state of charge estimation of lithium-ion batteries using a nonlinear observer

Science.gov (United States)

Xia, Bizhong; Chen, Chaoren; Tian, Yong; Sun, Wei; Xu, Zhihui; Zheng, Weiwei

2014-12-01

The state of charge (SOC) is important for the safety and reliability of battery operation since it indicates the remaining capacity of a battery. However, as the internal state of each cell cannot be directly measured, the value of the SOC has to be estimated. In this paper, a novel method for SOC estimation in electric vehicles (EVs) using a nonlinear observer (NLO) is presented. One advantage of this method is that it does not need complicated matrix operations, so the computation cost can be reduced. As a key step in design of the nonlinear observer, the state-space equations based on the equivalent circuit model are derived. The Lyapunov stability theory is employed to prove the convergence of the nonlinear observer. Four experiments are carried out to evaluate the performance of the presented method. The results show that the SOC estimation error converges to 3% within 130 s while the initial SOC error reaches 20%, and does not exceed 4.5% while the measurement suffers both 2.5% voltage noise and 5% current noise. Besides, the presented method has advantages over the extended Kalman filter (EKF) and sliding mode observer (SMO) algorithms in terms of computation cost, estimation accuracy and convergence rate.

A disturbance decoupling nonlinear control law for variable speed wind turbines

DEFF Research Database (Denmark)

Thomsen, Sven Creutz; Poulsen, Niels Kjølstad

2007-01-01

This paper describes a nonlinear control law for controlling variable speed wind turbines using feedback linearization. The novel aspect of the control law is its ability to decouple the effect of wind fluctuations. Furthermore, the transformation to feedback linearizable coordinates is chosen...

Typical disturbances of the daytime equatorial F region observed with a high-resolution HF radar

Directory of Open Access Journals (Sweden)

E. Blanc

1998-06-01

Full Text Available HF radar measurements were performed near the magnetic equator in Africa (Korhogo 9°24'63''N–5°37'38''W during the International Equatorial Electrojet Year (1993–1994. The HF radar is a high-resolution zenithal radar. It gives ionograms, Doppler spectra and echo parameters at several frequencies simultaneously. This paper presents a comparative study of the daytime ionospheric structures observed during 3 days selected as representative of different magnetic conditions, given by magnetometer measurements. Broad Doppler spectra, large echo width, and amplitude fluctuations revealed small-scale instability processes up to the F-region peak. The height variations measured at different altitudes showed gravity waves and larger-scale disturbances related to solar daytime influence and equatorial electric fields. The possibility of retrieving the ionospheric electric fields from these Doppler or height variation measurements in the presence of the other possible equatorial ionospheric disturbances is discussed.

White noise theory of robust nonlinear filtering with correlated state and observation noises

NARCIS (Netherlands)

Bagchi, Arunabha; Karandikar, Rajeeva

1992-01-01

In the direct white noise theory of nonlinear filtering, the state process is still modeled as a Markov process satisfying an Ito stochastic differential equation, while a finitely additive white noise is used to model the observation noise. In the present work, this asymmetry is removed by modeling

White noise theory of robust nonlinear filtering with correlated state and observation noises

NARCIS (Netherlands)

Bagchi, Arunabha; Karandikar, Rajeeva

1994-01-01

In the existing `direct¿ white noise theory of nonlinear filtering, the state process is still modelled as a Markov process satisfying an Itô stochastic differential equation, while a `finitely additive¿ white noise is used to model the observation noise. We remove this asymmetry by modelling the

Distributed Coordination of Fractional Dynamical Systems with Exogenous Disturbances

Directory of Open Access Journals (Sweden)

Hongyong Yang

2014-01-01

Full Text Available Distributed coordination of fractional multiagent systems with external disturbances is studied. The state observer of fractional dynamical system is presented, and an adaptive pinning controller is designed for a little part of agents in multiagent systems without disturbances. This adaptive pinning controller with the state observer can ensure multiple agents' states reaching an expected reference tracking. Based on disturbance observers, the controllers are composited with the pinning controller and the state observer. By applying the stability theory of fractional order dynamical systems, the distributed coordination of fractional multiagent systems with external disturbances can be reached asymptotically.

Relativistic Electrons Produced by Foreshock Disturbances Observed Upstream of Earth's Bow Shock

Science.gov (United States)

Wilson, L. B., III; Sibeck, D. G.; Turner, D. L.; Osmane, A.; Caprioli, D.; Angelopoulos, V.

2016-01-01

Charged particles can be reflected and accelerated by strong (i.e., high Mach number) astrophysical collisionless shock waves, streaming away to form a foreshock region in communication with the shock. Foreshocks are primarily populated by suprathermal ions that can generate foreshock disturbances-largescale (i.e., tens to thousands of thermal ion Larmor radii), transient (approximately 5-10 per day) structures. They have recently been found to accelerate ions to energies of several keV. Although electrons in Saturn's high Mach number (M > 40) bow shock can be accelerated to relativistic energies (nearly 1000 keV), it has hitherto been thought impossible to accelerate electrons beyond a few tens of keV at Earth's low Mach number (1 =M foreshock disturbances to energies up to at least approximately 300 keV. Although such energetic electrons have been previously observed, their presence has been attributed to escaping magnetospheric particles or solar events. These relativistic electrons are not associated with any solar or magnetospheric activity. Further, due to their relatively small Larmor radii (compared to magnetic gradient scale lengths) and large thermal speeds (compared to shock speeds), no known shock acceleration mechanism can energize thermal electrons up to relativistic energies. The discovery of relativistic electrons associated with foreshock structures commonly generated in astrophysical shocks could provide a new paradigm for electron injections and acceleration in collisionless plasmas.

Multivariable polynomial fitting of controlled single-phase nonlinear load of input current total harmonic distortion

Directory of Open Access Journals (Sweden)

Sikora Roman

2018-04-01

Full Text Available The power systems usually include a number of nonlinear receivers. Nonlinear receivers are the source of disturbances generated to the power system in the form of higher harmonics. The level of these disturbances describes the total harmonic distortion coefficient THD. Its value depends on many factors. One of them are the deformation and change in RMS value of supply voltage. A modern LED luminaire is a nonlinear receiver as well. The paper presents the results of the analysis of the influence of change in RMS value of supply voltage and the level of dimming of the tested luminaire on the value of the current THD. The analysis was made using a mathematical model based on multivariable polynomial fitting.

Nonlinear flight dynamics and stability of hovering model insects

Science.gov (United States)

Liang, Bin; Sun, Mao

2013-01-01

Current analyses on insect dynamic flight stability are based on linear theory and limited to small disturbance motions. However, insects' aerial environment is filled with swirling eddies and wind gusts, and large disturbances are common. Here, we numerically solve the equations of motion coupled with the Navier–Stokes equations to simulate the large disturbance motions and analyse the nonlinear flight dynamics of hovering model insects. We consider two representative model insects, a model hawkmoth (large size, low wingbeat frequency) and a model dronefly (small size, high wingbeat frequency). For small and large initial disturbances, the disturbance motion grows with time, and the insects tumble and never return to the equilibrium state; the hovering flight is inherently (passively) unstable. The instability is caused by a pitch moment produced by forward/backward motion and/or a roll moment produced by side motion of the insect. PMID:23697714

Nonlinear Observer Design of the Generalized Rössler Hyperchaotic Systems via DIL Methodology

Directory of Open Access Journals (Sweden)

Yeong-Jeu Sun

2012-01-01

Full Text Available The generalized Rössler hyperchaotic systems are presented, and the state observation problem of such systems is investigated. Based on the differential inequality with Lyapunov methodology (DIL methodology, a nonlinear observer design for the generalized Rössler hyperchaotic systems is developed to guarantee the global exponential stability of the resulting error system. Meanwhile, the guaranteed exponential decay rate can be accurately estimated. Finally, numerical simulations are provided to illustrate the feasibility and effectiveness of proposed approach.

Nonlinear observer to estimate polarization phenomenon in membrane distillation

Directory of Open Access Journals (Sweden)

Khoukhi Billal

2015-01-01

Full Text Available This paper presents a bi-dimensional dynamic model of Direct Contact Membrane Desalination (DCMD process. Most of the MD configuration processes have been modeled as steady-state one-dimensional systems. Stationary two-dimensional MD models have been considered only in very few studies. In this work, a dynamic model of a DCMD process is developed. The model is implemented using Matlab/Simulink environment. Numerical simulations are conducted for different operational parameters at the module inlets such as the feed and permeate temperature or feed and permeate flow rate. The results are compared with experimental data published in the literature. The work presents also a feed forward control that compensates the possible decrease of the temperature gradient by increasing the flow rate. This work also deals with a development of nonlinear observer to estimate temperature polarization inside the membrane. The observer gives a good profile and longitudinal temperature estimations and shows a good prediction of pure water flux production.

Adaptive PI Controller for a Nonlinear System

Directory of Open Access Journals (Sweden)

D. Rathikarani

2009-10-01

Full Text Available Most of the industrial processes are inherently nonlinear in their behaviour. Designs of controllers for these nonlinear processes are difficult, as they do not follow superposition theorem. Adaptive controller can change its behaviour in response to changes in the dynamics of the process and disturbances. Hence adaptive controller can be used to control nonlinear processes. Direct Model Reference Adaptive Control is a technique, in which a reference model involving the desired performances is specified. In the present work, a DMRAC is designed and implemented to achieve satisfactory control of a nonlinear system in all its local linear operating regions. The closed loop system is made BIBO stable by proper control techniques. The controller is designed through simulation in Matlab platform and is validated in real time by conducting experiments on the laboratory Air Flow Control System using the dSPACE interface.

Jump phenomena. [large amplitude responses of nonlinear systems

Science.gov (United States)

Reiss, E. L.

1980-01-01

The paper considers jump phenomena composed of large amplitude responses of nonlinear systems caused by small amplitude disturbances. Physical problems where large jumps in the solution amplitude are important features of the response are described, including snap buckling of elastic shells, chemical reactions leading to combustion and explosion, and long-term climatic changes of the earth's atmosphere. A new method of rational functions was then developed which consists of representing the solutions of the jump problems as rational functions of the small disturbance parameter; this method can solve jump problems explicitly.

Enzymatic Synthesis of Ampicillin: Nonlinear Modeling, Kinetics Estimation, and Adaptive Control

Directory of Open Access Journals (Sweden)

Monica Roman

2012-01-01

Full Text Available Nowadays, the use of advanced control strategies in biotechnology is quite low. A main reason is the lack of quality of the data, and the fact that more sophisticated control strategies must be based on a model of the dynamics of bioprocesses. The nonlinearity of the bioprocesses and the absence of cheap and reliable instrumentation require an enhanced modeling effort and identification strategies for the kinetics. The present work approaches modeling and control strategies for the enzymatic synthesis of ampicillin that is carried out inside a fed-batch bioreactor. First, a nonlinear dynamical model of this bioprocess is obtained by using a novel modeling procedure for biotechnology: the bond graph methodology. Second, a high gain observer is designed for the estimation of the imprecisely known kinetics of the synthesis process. Third, by combining an exact linearizing control law with the on-line estimation kinetics algorithm, a nonlinear adaptive control law is designed. The case study discussed shows that a nonlinear feedback control strategy applied to the ampicillin synthesis bioprocess can cope with disturbances, noisy measurements, and parametric uncertainties. Numerical simulations performed with MATLAB environment are included in order to test the behavior and the performances of the proposed estimation and control strategies.

Stabilization analysis of Euler-Bernoulli beam equation with locally distributed disturbance

Directory of Open Access Journals (Sweden)

Pengcheng HAN

2017-12-01

Full Text Available In order to enrich the system stability theory of the control theories, taking Euler-Bernoulli beam equation as the research subject, the stability of Euler-Bernoulli beam equation with locally distributed disturbance is studied. A feedback controller based on output is designed to reduce the effects of the disturbances. The well-posedness of the nonlinear closed-loop system is investigated by the theory of maximal monotone operator, namely the existence and uniqueness of solutions for the closed-loop system. An appropriate state space is established, an appropriate inner product is defined, and a non-linear operator satisfying this state space is defined. Then, the system is transformed into the form of evolution equation. Based on this, the existence and uniqueness of solutions for the closed-loop system are proved. The asymptotic stability of the system is studied by constructing an appropriate Lyapunov function, which proves the asymptotic stability of the closed-loop system. The result shows that designing proper anti-interference controller is the foundation of investigating the system stability, and the research of the stability of Euler-bernoulli beam equation with locally distributed disturbance can prove the asymptotic stability of the system. This method can be extended to study the other equations such as wave equation, Timoshenko beam equation, Schrodinger equation, etc.

Evaluation of nonlinearity and validity of nonlinear modeling for complex time series.

Science.gov (United States)

Suzuki, Tomoya; Ikeguchi, Tohru; Suzuki, Masuo

2007-10-01

Even if an original time series exhibits nonlinearity, it is not always effective to approximate the time series by a nonlinear model because such nonlinear models have high complexity from the viewpoint of information criteria. Therefore, we propose two measures to evaluate both the nonlinearity of a time series and validity of nonlinear modeling applied to it by nonlinear predictability and information criteria. Through numerical simulations, we confirm that the proposed measures effectively detect the nonlinearity of an observed time series and evaluate the validity of the nonlinear model. The measures are also robust against observational noises. We also analyze some real time series: the difference of the number of chickenpox and measles patients, the number of sunspots, five Japanese vowels, and the chaotic laser. We can confirm that the nonlinear model is effective for the Japanese vowel /a/, the difference of the number of measles patients, and the chaotic laser.

Linear and nonlinear stability of a thermally stratified magnetically driven rotating flow in a cylinder.

Science.gov (United States)

Grants, Ilmars; Gerbeth, Gunter

2010-07-01

The stability of a thermally stratified liquid metal flow is considered numerically. The flow is driven by a rotating magnetic field in a cylinder heated from above and cooled from below. The stable thermal stratification turns out to destabilize the flow. This is explained by the fact that a stable stratification suppresses the secondary meridional flow, thus indirectly enhancing the primary rotation. The instability in the form of Taylor-Görtler rolls is consequently promoted. These rolls can only be excited by finite disturbances in the isothermal flow. A sufficiently strong thermal stratification transforms this nonlinear bypass instability into a linear one reducing, thus, the critical value of the magnetic driving force. A weaker temperature gradient delays the linear instability but makes the bypass transition more likely. We quantify the non-normal and nonlinear components of this transition by direct numerical simulation of the flow response to noise. It is observed that the flow sensitivity to finite disturbances increases considerably under the action of a stable thermal stratification. The capabilities of the random forcing approach to identify disconnected coherent states in a general case are discussed.

Experimental investigation of shaping disturbance observer design for motion control of precision mechatronic stages with resonances

Science.gov (United States)

Yang, Jin; Hu, Chuxiong; Zhu, Yu; Wang, Ze; Zhang, Ming

2017-08-01

In this paper, shaping disturbance observer (SDOB) is investigated for precision mechatronic stages with middle-frequency zero/pole type resonance to achieve good motion control performance in practical manufacturing situations. Compared with traditional standard disturbance observer (DOB), in SDOB a pole-zero cancellation based shaping filter is cascaded to the mechatronic stage plant to meet the challenge of motion control performance deterioration caused by actual resonance. Noting that pole-zero cancellation is inevitably imperfect and the controller may even consequently become unstable in practice, frequency domain stability analysis is conducted to find out how each parameter of the shaping filter affects the control stability. Moreover, the robust design criterion of the shaping filter, and the design procedure of SDOB, are both proposed to guide the actual design and facilitate practical implementation. The SDOB with the proposed design criterion is applied to a linear motor driven stage and a voice motor driven stage, respectively. Experimental results consistently validate the effectiveness nature of the proposed SDOB scheme in practical mechatronics motion applications. The proposed SDOB design actually could be an effective unit in the controller design for motion stages of mechanical manufacture equipments.

Investigation of Ionospheric Disturbances Using Radio and Optical Observations in South-East Asia -- The Initial Results of the ASI and FPI Observations in Chiang Mai, Thailand

Science.gov (United States)

Kubota, M.; Nagatsuma, T.; Otsuka, Y.; Shiokawa, K.; Komonjinda, S.; Komolmis, T.; Somboon, E.; Tsugawa, T.; Maruyama, T.; Murata, K. T.

2010-12-01

For the purpose of monitoring and forecasting equatorial ionospheric disturbances, SEALION (SouthEast Asia Low-latitude IOnospheric Network) has been developed since 2003 as a cooperation project by National Institute of Information and Communications Technology (NICT), King Mongkut's Institute of Technology Ladkrabang (KMITL) in Thailand, Chiang Mai University (CMU) in Thailand, National Institute of Aeronautics and Space (LAPAN) in Indonesia, Hanoi Institute of Geophysics (HIG), Vietnamese Academy of Science and Technology in Vietnam, Center for Space Science and Applied Research (CSSAR), Chinese Academy of Sciences in China, Kyoto University in Japan, and Solar-Terrestrial Environment Laboratory (STEL), Nagoya University in Japan. SEALION consists of five ionosondes, four GPS receivers, two GPS scintillation monitors, and a magnetometer. As a part of this project, we newly installed an all-sky imager (ASI) and a Fabry-Perot Interferometer (FPI) at Sirindhorn observatory in Chiang Mai (18.8N, 98.9E, Dip lat. 13.1), Thailand. This site is located near conjugate to EAR site in Kototabang, Indonesia. One of main targets of the ASI observation is the large-scale wave structure (LSWS) with wavelengths of 100-1000 km. The LSWS is thought to be connected to the generation mechanism of equatorial plasma bubbles (EPB). The optical observations in Chiang Mai started in February 2010, and we have detected several ionospheric disturbance events with these instruments In this paper, we will show the initial results of the optical observations from Sirindhorn observatory, and discuss the features of ionospheric disturbances in Southeast Asia.

Nonlinear Model Predictive Control with Constraint Satisfactions for a Quadcopter

Science.gov (United States)

Wang, Ye; Ramirez-Jaime, Andres; Xu, Feng; Puig, Vicenç

2017-01-01

This paper presents a nonlinear model predictive control (NMPC) strategy combined with constraint satisfactions for a quadcopter. The full dynamics of the quadcopter describing the attitude and position are nonlinear, which are quite sensitive to changes of inputs and disturbances. By means of constraint satisfactions, partial nonlinearities and modeling errors of the control-oriented model of full dynamics can be transformed into the inequality constraints. Subsequently, the quadcopter can be controlled by an NMPC controller with the updated constraints generated by constraint satisfactions. Finally, the simulation results applied to a quadcopter simulator are provided to show the effectiveness of the proposed strategy.

Nonlinear observer-based Lyapunov boundary control of distributed heat transfer mechanisms for membrane distillation plant

KAUST Repository

Eleiwi, Fadi

2016-09-19

This paper presents a nonlinear observer-based Lyapunov control for a membrane distillation (MD) process. The control considers the inlet temperatures of the feed and the permeate solutions as inputs, transforming it to boundary control process, and seeks to maintain the temperature difference along the membrane boundaries around a sufficient level to promote water production. MD process is modeled with advection diffusion equation model in two dimensions, where the diffusion and convection heat transfer mechanisms are best described. Model analysis, effective order reduction and parameters physical interpretation, are provided. Moreover, a nonlinear observer has been designed to provide the control with estimates of the temperature evolution at each time instant. In addition, physical constraints are imposed on the control to have an acceptable range of feasible inputs, and consequently, better energy consumption. Numerical simulations for the complete process with real membrane parameter values are provided, in addition to detailed explanations for the role of the controller and the observer. (C) 2016 Elsevier Ltd. All rights reserved.

Adaptive neural network output feedback control for stochastic nonlinear systems with unknown dead-zone and unmodeled dynamics.

Science.gov (United States)

Tong, Shaocheng; Wang, Tong; Li, Yongming; Zhang, Huaguang

2014-06-01

This paper discusses the problem of adaptive neural network output feedback control for a class of stochastic nonlinear strict-feedback systems. The concerned systems have certain characteristics, such as unknown nonlinear uncertainties, unknown dead-zones, unmodeled dynamics and without the direct measurements of state variables. In this paper, the neural networks (NNs) are employed to approximate the unknown nonlinear uncertainties, and then by representing the dead-zone as a time-varying system with a bounded disturbance. An NN state observer is designed to estimate the unmeasured states. Based on both backstepping design technique and a stochastic small-gain theorem, a robust adaptive NN output feedback control scheme is developed. It is proved that all the variables involved in the closed-loop system are input-state-practically stable in probability, and also have robustness to the unmodeled dynamics. Meanwhile, the observer errors and the output of the system can be regulated to a small neighborhood of the origin by selecting appropriate design parameters. Simulation examples are also provided to illustrate the effectiveness of the proposed approach.

Estimation of dynamic reactivity using an H∞ optimal filter with a nonlinear term

International Nuclear Information System (INIS)

Suzuki, Katsuo; Watanabe, Koiti

1996-01-01

A method of nonlinear filtering is applied to the problem of estimating the dynamic reactivity of a nonlinear reactor system. The nonlinear filtering algorithm developed is a simple modification of a linear H ∞ optimal filter with a nonlinear feedback loop added. The linear filter is designed on the basis of a linearized dynamical system model that consists of linearized point reactor kinetic equations and a reactivity state equation driven by a fictitious signal. The latter is artificially introduced to deal with the reactivity as a state variable. The results of the computer simulation show that the nonlinear filtering algorithm can be applied to estimate the dynamic reactivity of the nonlinear reactor system, even under relatively large reactivity disturbances

Nonlinear control of linear parameter varying systems with applications to hypersonic vehicles

Science.gov (United States)

Wilcox, Zachary Donald

The focus of this dissertation is to design a controller for linear parameter varying (LPV) systems, apply it specifically to air-breathing hypersonic vehicles, and examine the interplay between control performance and the structural dynamics design. Specifically a Lyapunov-based continuous robust controller is developed that yields exponential tracking of a reference model, despite the presence of bounded, nonvanishing disturbances. The hypersonic vehicle has time varying parameters, specifically temperature profiles, and its dynamics can be reduced to an LPV system with additive disturbances. Since the HSV can be modeled as an LPV system the proposed control design is directly applicable. The control performance is directly examined through simulations. A wide variety of applications exist that can be effectively modeled as LPV systems. In particular, flight systems have historically been modeled as LPV systems and associated control tools have been applied such as gain-scheduling, linear matrix inequalities (LMIs), linear fractional transformations (LFT), and mu-types. However, as the type of flight environments and trajectories become more demanding, the traditional LPV controllers may no longer be sufficient. In particular, hypersonic flight vehicles (HSVs) present an inherently difficult problem because of the nonlinear aerothermoelastic coupling effects in the dynamics. HSV flight conditions produce temperature variations that can alter both the structural dynamics and flight dynamics. Starting with the full nonlinear dynamics, the aerothermoelastic effects are modeled by a temperature dependent, parameter varying state-space representation with added disturbances. The model includes an uncertain parameter varying state matrix, an uncertain parameter varying non-square (column deficient) input matrix, and an additive bounded disturbance. In this dissertation, a robust dynamic controller is formulated for a uncertain and disturbed LPV system. The developed

The vertical structure of Jupiter and Saturn zonal winds from nonlinear simulations of major vortices and planetary-scale disturbances

Science.gov (United States)

Garcia-Melendo, E.; Legarreta, J.; Sanchez-Lavega, A.

2012-12-01

Direct measurements of the structure of the zonal winds of Jupiter and Saturn below the upper cloud layer are very difficult to retrieve. Except from the vertical profile at a Jupiter hot spot obtained from the Galileo probe in 1995 and measurements from cloud tracking by Cassini instruments just below the upper cloud, no other data are available. We present here our inferences of the vertical structure of Jupiter and Saturn zonal wind across the upper troposphere (deep down to about 10 bar level) obtained from nonlinear simulations using the EPIC code of the stability and interactions of large-scale vortices and planetary-scale disturbances in both planets. Acknowledgements: This work has been funded by Spanish MICIIN AYA2009-10701 with FEDER support, Grupos Gobierno Vasco IT-464-07 and UPV/EHU UFI11/55. [1] García-Melendo E., Sánchez-Lavega A., Dowling T.., Icarus, 176, 272-282 (2005). [2] García-Melendo E., Sánchez-Lavega A., Hueso R., Icarus, 191, 665-677 (2007). [3] Sánchez-Lavega A., et al., Nature, 451, 437- 440 (2008). [4] Sánchez-Lavega A., et al., Nature, 475, 71-74 (2011).

Post-disturbance sediment recovery: Implications for watershed resilience

Science.gov (United States)

Rathburn, Sara L.; Shahverdian, Scott M.; Ryan, Sandra E.

2018-03-01

Sediment recovery following disturbances is a measure of the time required to attain pre-disturbance sediment fluxes. Insight into the controls on recovery processes and pathways builds understanding of geomorphic resilience. We assess post-disturbance sediment recovery in three small (1.5-100 km2), largely unaltered watersheds within the northern Colorado Rocky Mountains affected by wildfires, floods, and debris flows. Disturbance regimes span 102 (floods, debris flows) to 103 years (wildfires). For all case studies, event sediment recovery followed a nonlinear pattern: initial high sediment flux during single precipitation events or high annual snowmelt runoff followed by decreasing sediment fluxes over time. Disturbance interactions were evaluated after a high-severity fire within the South Fork Cache la Poudre basin was followed by an extreme flood one year post-fire. This compound disturbance hastened suspended sediment recovery to pre-fire concentrations 3 years after the fire. Wildfires over the last 1900 YBP in the South Fork basin indicate fire recurrence intervals of 600 years. Debris flows within the upper Colorado River basin over the last two centuries have shifted the baseline of sediment recovery caused by anthropogenic activities that increased debris flow frequency. An extreme flood on North St. Vrain Creek with an impounding reservoir resulted in extreme sedimentation that led to a physical state change. We introduce an index of resilience as sediment recovery/disturbance recurrence interval, providing a relative comparison between sites. Sediment recovery and channel form resilience may be inversely related because of high or low physical complexity in streams. We propose management guidelines to enhance geomorphic resilience by promoting natural processes that maintain physical complexity. Finally, sediment connectivity within watersheds is an additional factor to consider when establishing restoration treatment priorities.

Impulsive Flocking of Dynamical Multiagent Systems with External Disturbances

Directory of Open Access Journals (Sweden)

Fujun Han

2017-01-01

Full Text Available Flocking motion of multiagent systems is influenced by various external disturbances in complex environment. By applying disturbance observer, flocking of multiagent systems with exogenous disturbances is studied. Based on the robust features of impulsive control, a distributed impulsive control protocol is presented with disturbance observer, and flocking motion of multiagent systems is analyzed. Moreover, a sufficient condition is obtained to ensure the flocking motion of multiagent systems following a leader. Finally, simulation results show the validity of the theoretical conclusion.

DAC to Mitigate the Effect of Periodic Disturbances on Drive Train using Collective Pitch for Variable Speed Wind Turbine

DEFF Research Database (Denmark)

Imran, Raja Muhammad; Hussain, Dil Muhammad Akbar; Soltani, Mohsen

2015-01-01

scheme to mitigate the effect of 3p flicker on drive train. 5MW wind turbine of the National Renewable Laboratories (NREL) is used as research object and results are simulated in MATLAB/Simulink. We designed the controller based on linearized model of the wind turbine generated for above rated wind speed...... and then tested its performance on the nonlinear model of wind turbine. We have shown a comparison of the results for proportional-integral(PI) and proposed DAC controller tested on nonlinear model of wind turbine. Result shows that our proposed controller shows better mitigation of flicker generated due to 3p......DAC is a linear control technique used to mitigate the effect of disturbance on the plant. It is a superposition of full state feedback and disturbance feedback. This paper presents a control technique based on Disturbance Accommodation Control (DAC) to reduce fatigue on drive train generated...

Nonlinearity and fractional integration in the US dollar/euro exchange rate

Directory of Open Access Journals (Sweden)

Kiran Burcu

2012-01-01

Full Text Available This paper examines the nonlinear behavior and the fractional integration property of the US dollar/euro exchange rate over the period from January 1999 to August 2010 by extending the procedure of Peter M. Robinson (1994 to the case of nonlinearity. First, using the approach developed by Mehmet Caner and Bruce E. Hansen (2001, we investigate the possible presence of nonlinearity in the series through the estimation of a two-regime threshold autoregressive model. After finding nonlinearity, we also allow for disturbances to be fractionally integrated based on the different versions of Robinson (1994 tests. The findings show that the US dollar/euro exchange rate follows a stationary process with a weak evidence for long memory.

Nonlinear hydromagnetic Rayleigh-Taylor instability for strong viscous fluids in porous media

CERN Document Server

El-Dib, Y O

2003-01-01

In the present work a weakly nonlinear stability for magnetic fluid is discussed. The research of an interface between two strong viscous homogeneous incompressible fluids through porous medium is investigated theoretically and graphically. The effect of the vertical magnetic field has been demonstrated in this study. The linear form of equation of motion is solved in the light of the nonlinear boundary conditions. The boundary value problem leads to construct nonlinear characteristic equation having complex coefficients in elevation function. The nonlinearity is kept to third-order expansion. The nonlinear characteristic equation leads to derive the well-known nonlinear Schroedinger equation. This equation having complex coefficients of the disturbance amplitude varies in both space and time. Stability criteria have been performed for nonlinear Chanderasekhar dispersion relation including the porous effects. Stability conditions are discussed through the assumption of equal kinematic viscosity. The calculati...

Nonlinear Acoustic Waves Generated by Surface Disturbances and Their Effects on Lower Thermospheric Composition

Science.gov (United States)

Pineyro, B.; Snively, J. B.

2017-12-01

Recent 1D and 2D nonlinear atmospheric models have provided important insight into acoustic waves generated by seismic events, which may steepen into shocks or saw-tooth trains while also dissipating strongly in the thermosphere [e.g., Chum et al., JGR, 121, 2016; Zettergren et al., JGR, 122, 2017]. Although they have yield results that agree with with observations of ionospheric perturbations, dynamical models for the diffusive and stratified lower thermosphere [e.g., Snively and Pasko, JGR, 113, 2008] often use single gas approximations with height-dependent physical properties (e.g. mean molecular weight, specific heats) that do not vary with time (fixed composition). This approximation is simpler and less computationally expensive than a true multi-fluid model, yet captures the important physical transition between molecular and atomic gases in the lower thermosphere. Models with time-dependent composition and properties have been shown to outperform commonly used models with fixed properties; these time-dependent effects have been included in a one-gas model by adding an advection equation for the molecular weight, finding closer agreement to a true binary-gas model [Walterscheid and Hickey, JGR, 106, 2001 and JGR, 117, 2012]. Here, a one-dimensional nonlinear mass fraction approach to multi-constituent gas modeling, motivated by the results of Walterscheid and Hickey [2001, 2012], is presented. The finite volume method of Bale et al. [SIAM JSC, 24, 2002] is implemented in Clawpack [http://www.clawpack.org; LeVeque, 2002] with a Riemann Solver to solve the Euler Equations including multiple species, defined by their mass fractions, as they undergo advection. Viscous dissipation and thermal conduction are applied via a fractional step method. The model is validated with shock tube problems for two species, and then applied to investigate propagating nonlinear acoustic waves from ground to thermosphere, such as following the 2011 Tohoku Earthquake [e

Experimental Observation of Chaotic Beats in Oscillators Sharing Nonlinearity

Science.gov (United States)

Paul Asir, M.; Jeevarekha, A.; Philominathan, P.

This paper deals with the generation of chaotic beats in a system of two forced dissipative LCR oscillators sharing a nonlinear element. The presence of two external periodic excitations and a common nonlinear element in the chosen system enables the facile generation of chaotic beats. Thus rendered chaotic beats were characterized in both time domain and phase space. Lyapunov exponents and envelope of the beats were computed to diagnose the chaotic nature of the signals. The role of common nonlinearity on the complexity of the generated beats is discussed. Real-time experimental hardware implementation has also been done to confirm the subsistence of the phenomenon, for the first time. Extensive Multisim simulations were carried out to understand, a bit more about the shrinkage and revivals of state variables in phase space.

Nonlinear observer for synchronization of chaotic systems with application to secure data transmission

Science.gov (United States)

Aguilar-López, Ricardo; Martínez-Guerra, Rafael; Perez-Pinacho, Claudia A.

2014-06-01

The main issue of this work is related with the design of a class of nonlinear observer in order to synchronize chaotic dynamical systems in a master-slave scheme, considering different initial conditions. The oscillator of Chen is proposed as a benchmark model and a bounded-type observer is proposed to reach synchronicity between both two chaotic systems. The proposed observer contains a proportional and sigmoid form of a bounded function of the synchronization error in order to provide asymptotic synchronization with a satisfactory performance. Some numerical simulations were carrying out in order to show the operation of the proposed methodology, with possible applications to secure data communications issues.

Traction control of an electric vehicle based on nonlinear observers

Directory of Open Access Journals (Sweden)

Diego A. Aligia

2017-12-01

Full Text Available A traction control strategy for a four-wheel electric vehicle is proposed in this paper. The strategy is based on nonlinear observers which allows estimating the maximum force that can be transmitted to the road. Knowledge of the maximum force allows controlling the slip of the driving wheels, preventing the wheel’s slippage in low-grip surfaces. The proposed strategy also allows to avoid the undesired yaw moment in the vehicle which occurs when road conditions on either side of it are dierent. This improves the eciency and the control of the vehicle, avoiding possible losses of stability that can result in risks for its occupants. Both the proposed observer and the control strategy are designed based on a dynamic rotational model of the wheel and a brush force model. Simulation results are obtained based on a complete vehicle model on the Simulink/CarSim platform.

Derivation and solution of a time-dependent, nonlinear, Schrodinger-like equation for the superconductivity order parameter

International Nuclear Information System (INIS)

Esrick, M.A.

1981-01-01

A time-dependent, nonlinear, Schrodinger-like equation for the superconductivity order parameter is derived from the Gor'kov equations. Three types of traveling wave solutions of the equation are discussed. The phases and amplitudes of these solutions propagate at different speeds. The first type of solution has an amplitude that propagates as a soliton and it is suggested that this solution might correspond to the recently observed propagating collective modes of the order parameter. The amplitude of the second type of solution propagates as a periodic disturbance in space and time. It is suggested that this type of solution might explain the recently observed multiple values of the superconductor energy gap as well as the spatially inhomogenous superconducting state. The third type of solution, which is of a more general character, might provide some insight into non-periodic, inhomogeneous states occuring in superconductors. It is also proposed that quasiparticle injection and microwave irradiation might generate soliton-like disturbances in superconductors

Nonlinear transport properties of non-ideal systems

International Nuclear Information System (INIS)

Pavlov, G A

2009-01-01

The theory of nonlinear transport is elaborated to determine the Burnett transport properties of non-ideal multi-element plasma and neutral systems. The procedure for the comparison of the phenomenological conservation equations of a continuous dense medium and the microscopic equations for dynamical variable operators is used for the definition of these properties. The Mori algorithm is developed to derive the equations of motion of dynamical value operators of a non-ideal system in the form of the generalized nonlinear Langevin equations. In consequence, the microscopic expressions of transport coefficients corresponding to second-order thermal disturbances (temperature, mass velocity, etc) have been found in the long wavelength and low frequency limits

Robust Control and Motion Planning for Nonlinear Underactuated Systems Using H infinity Techniques

National Research Council Canada - National Science Library

Toussaint, Gregory

2000-01-01

This thesis presents new techniques for planning and robustly controlling the motion of nonlinear underactuated vehicles when disturbances are present and only imperfect state measurements are available for feedback...

Distributed control design for nonlinear output agreement in convergent systems

NARCIS (Netherlands)

Weitenberg, Erik; De Persis, Claudio

2015-01-01

This work studies the problem of output agreement in homogeneous networks of nonlinear dynamical systems under time-varying disturbances using controllers placed at the nodes of the networks. For the class of contractive systems, necessary and sufficient conditions for output agreement are derived,

Hybrid Robust Control Law with Disturbance Observer for High-Frequency Response Electro-Hydraulic Servo Loading System

Directory of Open Access Journals (Sweden)

Zhiqing Sheng

2016-04-01

Full Text Available Addressing the simulating issue of the helicopter-manipulating booster aerodynamic load with high-frequency dynamic load superimposed on a large static load, this paper studies the design of the robust controller for the electro-hydraulic loading system to realize the simulation of this kind of load. Firstly, the equivalent linear model of the electro-hydraulic loading system under assumed parameter uncertainty is established. Then, a hybrid control scheme is proposed for the loading system. This control scheme consists of a constant velocity feed-forward compensator, a robust inner loop compensator based on disturbance observer and a robust outer loop feedback controller. The constant velocity compensator eliminates most of the extraneous force at first, and then the double-loop cascade composition control strategy is employed to design the compensated system. The disturbance observer–based inner loop compensator further restrains the disturbances including the remaining extraneous force, and makes the actual plant tracking a nominal model approximately in a certain frequency range. The robust outer loop controller achieves the desired force-tracking performance, and guarantees system robustness in the high frequency region. The optimized low-pass filter Q(s is designed by using the H∞ mixed sensitivity optimization method. The simulation results show that the proposed hybrid control scheme and controller can effectively suppress the extraneous force and improve the robustness of the electro-hydraulic loading system.

SAPS-Associated Explosive Brightening on the Duskside: A New Type of Onset-Like Disturbance

Science.gov (United States)

Henderson, M. G.; Morley, S. K.; Kepko, L. E.

2018-01-01

Quasiperiodic energetic particle injections have been observed at geosynchronous orbit on the duskside during a steady magnetospheric convection event. We examine high-resolution auroral imager data and ground magnetometer data associated with the first of these injections and conclude that it was not associated with classical substorm signatures. It is proposed that these injections are caused by the explosive nonlinear growth of a shear flow-ballooning instability in the region where subauroral polarization streams (SAPS) also occur. It is suggested that interchange will occur preferentially in the low-conductivity SAPS region since the magnetic Richardson number is lowest there and the "line-tying" effect will also be least stabilizing there. We propose that the observed particle injection signatures and auroral morphology constitute a new type of SAPS-associated explosive "onset-like" disturbance that can occur during intervals of strong convection.

Distributed Adaptive Neural Control for Stochastic Nonlinear Multiagent Systems.

Science.gov (United States)

Wang, Fang; Chen, Bing; Lin, Chong; Li, Xuehua

2016-11-14

In this paper, a consensus tracking problem of nonlinear multiagent systems is investigated under a directed communication topology. All the followers are modeled by stochastic nonlinear systems in nonstrict feedback form, where nonlinearities and stochastic disturbance terms are totally unknown. Based on the structural characteristic of neural networks (in Lemma 4), a novel distributed adaptive neural control scheme is put forward. The raised control method not only effectively handles unknown nonlinearities in nonstrict feedback systems, but also copes with the interactions among agents and coupling terms. Based on the stochastic Lyapunov functional method, it is indicated that all the signals of the closed-loop system are bounded in probability and all followers' outputs are convergent to a neighborhood of the output of leader. At last, the efficiency of the control method is testified by a numerical example.

Nonlinear dynamics in cardiac conduction

Science.gov (United States)

Kaplan, D. T.; Smith, J. M.; Saxberg, B. E.; Cohen, R. J.

1988-01-01

Electrical conduction in the heart shows many phenomena familiar from nonlinear dynamics. Among these phenomena are multiple basins of attraction, phase locking, and perhaps period-doubling bifurcations and chaos. We describe a simple cellular-automation model of electrical conduction which simulates normal conduction patterns in the heart as well as a wide range of disturbances of heart rhythm. In addition, we review the application of percolation theory to the analysis of the development of complex, self-sustaining conduction patterns.

Ion hole formation and nonlinear generation of electromagnetic ion cyclotron waves: THEMIS observations

Science.gov (United States)

Shoji, Masafumi; Miyoshi, Yoshizumi; Katoh, Yuto; Keika, Kunihiro; Angelopoulos, Vassilis; Kasahara, Satoshi; Asamura, Kazushi; Nakamura, Satoko; Omura, Yoshiharu

2017-09-01

Electromagnetic plasma waves are thought to be responsible for energy exchange between charged particles in space plasmas. Such an energy exchange process is evidenced by phase space holes identified in the ion distribution function and measurements of the dot product of the plasma wave electric field and the ion velocity. We develop a method to identify ion hole formation, taking into consideration the phase differences between the gyromotion of ions and the electromagnetic ion cyclotron (EMIC) waves. Using this method, we identify ion holes in the distribution function and the resulting nonlinear EMIC wave evolution from Time History of Events and Macroscale Interactions during Substorms (THEMIS) observations. These ion holes are key to wave growth and frequency drift by the ion currents through nonlinear wave-particle interactions, which are identified by a computer simulation in this study.

Active disturbance rejection based trajectory linearization control for hypersonic reentry vehicle with bounded uncertainties.

Science.gov (United States)

Shao, Xingling; Wang, Honglun

2015-01-01

This paper investigates a novel compound control scheme combined with the advantages of trajectory linearization control (TLC) and alternative active disturbance rejection control (ADRC) for hypersonic reentry vehicle (HRV) attitude tracking system with bounded uncertainties. Firstly, in order to overcome actuator saturation problem, nonlinear tracking differentiator (TD) is applied in the attitude loop to achieve fewer control consumption. Then, linear extended state observers (LESO) are constructed to estimate the uncertainties acting on the LTV system in the attitude and angular rate loop. In addition, feedback linearization (FL) based controllers are designed using estimates of uncertainties generated by LESO in each loop, which enable the tracking error for closed-loop system in the presence of large uncertainties to converge to the residual set of the origin asymptotically. Finally, the compound controllers are derived by integrating with the nominal controller for open-loop nonlinear system and FL based controller. Also, comparisons and simulation results are presented to illustrate the effectiveness of the control strategy. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Identification of Nonlinear Dynamic Systems Possessing Some Non-linearities

Directory of Open Access Journals (Sweden)

Y. N. Pavlov

2015-01-01

Full Text Available The subject of this work is the problem of identification of nonlinear dynamic systems based on the experimental data obtained by applying test signals to the system. The goal is to determinate coefficients of differential equations of systems by experimental frequency hodographs and separate similar, but different, in essence, forces: dissipative forces with the square of the first derivative in the motion equations and dissipative force from the action of dry friction. There was a proposal to use the harmonic linearization method to approximate each of the nonlinearity of "quadratic friction" and "dry friction" by linear friction with the appropriate harmonic linearization coefficient.Assume that a frequency transfer function of the identified system has a known form. Assume as well that there are disturbances while obtaining frequency characteristics of the realworld system. As a result, the points of experimentally obtained hodograph move randomly. Searching for solution of the identification problem was in the hodograph class, specified by the system model, which has the form of the frequency transfer function the same as the form of the frequency transfer function of the system identified. Minimizing a proximity criterion (measure of the experimentally obtained system hodograph and the system hodograph model for all the experimental points described and previously published by one of the authors allowed searching for the unknown coefficients of the frequenc ransfer function of the system model. The paper shows the possibility to identify a nonlinear dynamic system with multiple nonlinearities, obtained on the experimental samples of the frequency system hodograph. The proposed algorithm allows to select the nonlinearity of the type "quadratic friction" and "dry friction", i.e. also in the case where the nonlinearity is dependent on the same dynamic parameter, in particular, on the derivative of the system output value. For the dynamic

Robust model predictive control for constrained continuous-time nonlinear systems

Science.gov (United States)

Sun, Tairen; Pan, Yongping; Zhang, Jun; Yu, Haoyong

2018-02-01

In this paper, a robust model predictive control (MPC) is designed for a class of constrained continuous-time nonlinear systems with bounded additive disturbances. The robust MPC consists of a nonlinear feedback control and a continuous-time model-based dual-mode MPC. The nonlinear feedback control guarantees the actual trajectory being contained in a tube centred at the nominal trajectory. The dual-mode MPC is designed to ensure asymptotic convergence of the nominal trajectory to zero. This paper extends current results on discrete-time model-based tube MPC and linear system model-based tube MPC to continuous-time nonlinear model-based tube MPC. The feasibility and robustness of the proposed robust MPC have been demonstrated by theoretical analysis and applications to a cart-damper springer system and a one-link robot manipulator.

Tip-tilt disturbance model identification based on non-linear least squares fitting for Linear Quadratic Gaussian control

Science.gov (United States)

Yang, Kangjian; Yang, Ping; Wang, Shuai; Dong, Lizhi; Xu, Bing

2018-05-01

We propose a method to identify tip-tilt disturbance model for Linear Quadratic Gaussian control. This identification method based on Levenberg-Marquardt method conducts with a little prior information and no auxiliary system and it is convenient to identify the tip-tilt disturbance model on-line for real-time control. This identification method makes it easy that Linear Quadratic Gaussian control runs efficiently in different adaptive optics systems for vibration mitigation. The validity of the Linear Quadratic Gaussian control associated with this tip-tilt disturbance model identification method is verified by experimental data, which is conducted in replay mode by simulation.

Parameter Identification and Synchronization of Uncertain Chaotic Systems Based on Sliding Mode Observer

Directory of Open Access Journals (Sweden)

Li-lian Huang

2013-01-01

Full Text Available The synchronization of nonlinear uncertain chaotic systems is investigated. We propose a sliding mode state observer scheme which combines the sliding mode control with observer theory and apply it into the uncertain chaotic system with unknown parameters and bounded interference. Based on Lyapunov stability theory, the constraints of synchronization and proof are given. This method not only can realize the synchronization of chaotic systems, but also identify the unknown parameters and obtain the correct parameter estimation. Otherwise, the synchronization of chaotic systems with unknown parameters and bounded external disturbances is robust by the design of the sliding surface. Finally, numerical simulations on Liu chaotic system with unknown parameters and disturbances are carried out. Simulation results show that this synchronization and parameter identification has been totally achieved and the effectiveness is verified very well.

Thermoviscous Model Equations in Nonlinear Acoustics

DEFF Research Database (Denmark)

Rasmussen, Anders Rønne

Four nonlinear acoustical wave equations that apply to both perfect gasses and arbitrary fluids with a quadratic equation of state are studied. Shock and rarefaction wave solutions to the equations are studied. In order to assess the accuracy of the wave equations, their solutions are compared...... to solutions of the basic equations from which the wave equations are derived. A straightforward weakly nonlinear equation is the most accurate for shock modeling. A higher order wave equation is the most accurate for modeling of smooth disturbances. Investigations of the linear stability properties...... of solutions to the wave equations, reveal that the solutions may become unstable. Such instabilities are not found in the basic equations. Interacting shocks and standing shocks are investigated....

Nonlinear control for a class of hydraulic servo system.

Science.gov (United States)

Yu, Hong; Feng, Zheng-jin; Wang, Xu-yong

2004-11-01

The dynamics of hydraulic systems are highly nonlinear and the system may be subjected to non-smooth and discontinuous nonlinearities due to directional change of valve opening, friction, etc. Aside from the nonlinear nature of hydraulic dynamics, hydraulic servo systems also have large extent of model uncertainties. To address these challenging issues, a robust state-feedback controller is designed by employing backstepping design technique such that the system output tracks a given signal arbitrarily well, and all signals in the closed-loop system remain bounded. Moreover, a relevant disturbance attenuation inequality is satisfied by the closed-loop signals. Compared with previously proposed robust controllers, this paper's robust controller based on backstepping recursive design method is easier to design, and is more suitable for implementation.

Chaos emerging in soil failure patterns observed during tillage: Normalized deterministic nonlinear prediction (NDNP) and its application.

Science.gov (United States)

Sakai, Kenshi; Upadhyaya, Shrinivasa K; Andrade-Sanchez, Pedro; Sviridova, Nina V

2017-03-01

Real-world processes are often combinations of deterministic and stochastic processes. Soil failure observed during farm tillage is one example of this phenomenon. In this paper, we investigated the nonlinear features of soil failure patterns in a farm tillage process. We demonstrate emerging determinism in soil failure patterns from stochastic processes under specific soil conditions. We normalized the deterministic nonlinear prediction considering autocorrelation and propose it as a robust way of extracting a nonlinear dynamical system from noise contaminated motion. Soil is a typical granular material. The results obtained here are expected to be applicable to granular materials in general. From a global scale to nano scale, the granular material is featured in seismology, geotechnology, soil mechanics, and particle technology. The results and discussions presented here are applicable in these wide research areas. The proposed method and our findings are useful with respect to the application of nonlinear dynamics to investigate complex motions generated from granular materials.

ECG denoising and fiducial point extraction using an extended Kalman filtering framework with linear and nonlinear phase observations.

Science.gov (United States)

Akhbari, Mahsa; Shamsollahi, Mohammad B; Jutten, Christian; Armoundas, Antonis A; Sayadi, Omid

2016-02-01

In this paper we propose an efficient method for denoising and extracting fiducial point (FP) of ECG signals. The method is based on a nonlinear dynamic model which uses Gaussian functions to model ECG waveforms. For estimating the model parameters, we use an extended Kalman filter (EKF). In this framework called EKF25, all the parameters of Gaussian functions as well as the ECG waveforms (P-wave, QRS complex and T-wave) in the ECG dynamical model, are considered as state variables. In this paper, the dynamic time warping method is used to estimate the nonlinear ECG phase observation. We compare this new approach with linear phase observation models. Using linear and nonlinear EKF25 for ECG denoising and nonlinear EKF25 for fiducial point extraction and ECG interval analysis are the main contributions of this paper. Performance comparison with other EKF-based techniques shows that the proposed method results in higher output SNR with an average SNR improvement of 12 dB for an input SNR of -8 dB. To evaluate the FP extraction performance, we compare the proposed method with a method based on partially collapsed Gibbs sampler and an established EKF-based method. The mean absolute error and the root mean square error of all FPs, across all databases are 14 ms and 22 ms, respectively, for our proposed method, with an advantage when using a nonlinear phase observation. These errors are significantly smaller than errors obtained with other methods. For ECG interval analysis, with an absolute mean error and a root mean square error of about 22 ms and 29 ms, the proposed method achieves better accuracy and smaller variability with respect to other methods.

Intertidal soft-sediment community does not respond to disturbance as postulated by the intermediate disturbance hypothesis

Science.gov (United States)

Gerwing, Travis G.; Allen Gerwing, Alyssa M.; Macdonald, Tara; Cox, Kieran; Juanes, Francis; Dudas, Sarah E.

2017-11-01

The Intermediate Disturbance Hypothesis (IDH) predicts that disturbances of an intermediate frequency or intensity will maximize community biodiversity/richness. Once almost universally accepted, controversy now surrounds this hypothesis, and there have even been calls for its abandonment. Therefore, we experimentally evaluated if an infaunal community along the north coast of British Columbia, Canada, would respond to disturbances as predicted by the IDH. The characteristics of this soft-sediment intertidal mudflat (productivity, species pool, population growth rate) maximized our chances of finding evidence to support the IDH. More specifically, we tested if intermediate severities and frequencies of disturbance maximized infaunal community richness by mechanically disturbing sediment, and varying the intensity (0%, 25%, 50%, 75%, and 100% of the surface area of a plot disturbed) and frequency of sediment disturbance (never, once, twice, and every week during a four week period). No effect of frequency or intensity of sediment disturbance on community richness was observed. Further, none of our experimental treatments were statistically different than the controls. This is likely due to the subtle difference between successional stages in this soft-sediment habitat (difference of less than one taxa between treatments). Therefore, in habitats whose productivity, regional species pool, and population growth rates would otherwise suggest a response to disturbances as predicted by the IDH, minor differences between successional stages may result in richness patterns that deviate from those predicted by the IDH.

Interpreting Observations of Large-Scale Traveling Ionospheric Disturbances by Ionospheric Sounders

Science.gov (United States)

Pederick, L. H.; Cervera, M. A.; Harris, T. J.

2017-12-01

From July to October 2015, the Australian Defence Science and Technology Group conducted an experiment during which a vertical incidence sounder (VIS) was set up at Alice Springs Airport. During September 2015 this VIS observed the passage of many large-scale traveling ionospheric disturbances (TIDs). By plotting the measured virtual heights across multiple frequencies as a function of time, the passage of the TID can be clearly displayed. Using this plotting method, we show that all the TIDs observed during the campaign by the VIS at Alice Springs show an apparent downward phase progression of the crests and troughs. The passage of the TID can be more clearly interpreted by plotting the true height of iso-ionic contours across multiple plasma frequencies; the true heights can be obtained by inverting each ionogram to obtain an electron density profile. These plots can be used to measure the vertical phase speed of a TID and also reveal a time lag between events seen in true height compared to virtual height. To the best of our knowledge, this style of analysis has not previously been applied to other swept-frequency sounder observations. We develop a simple model to investigate the effect of the passage of a large-scale TID on a VIS. The model confirms that for a TID with a downward vertical phase progression, the crests and troughs will appear earlier in virtual height than in true height and will have a smaller apparent speed in true height than in virtual height.

A Comparative Analysis for Selection of Appropriate Mother Wavelet for Detection of Stationary Disturbances

Science.gov (United States)

Kamble, Saurabh Prakash; Thawkar, Shashank; Gaikwad, Vinayak G.; Kothari, D. P.

2017-12-01

Detection of disturbances is the first step of mitigation. Power electronics plays a crucial role in modern power system which makes system operation efficient but it also bring stationary disturbances in the power system and added impurities to the supply. It happens because of the non-linear loads used in modern day power system which inject disturbances like harmonic disturbances, flickers, sag etc. in power grid. These impurities can damage equipments so it is necessary to mitigate these impurities present in the supply very quickly. So, digital signal processing techniques are incorporated for detection purpose. Signal processing techniques like fast Fourier transform, short-time Fourier transform, Wavelet transform etc. are widely used for the detection of disturbances. Among all, wavelet transform is widely used because of its better detection capabilities. But, which mother wavelet has to use for detection is still a mystery. Depending upon the periodicity, the disturbances are classified as stationary and non-stationary disturbances. This paper presents the importance of selection of mother wavelet for analyzing stationary disturbances using discrete wavelet transform. Signals with stationary disturbances of various frequencies are generated using MATLAB. The analysis of these signals is done using various mother wavelets like Daubechies and bi-orthogonal wavelets and the measured root mean square value of stationary disturbance is obtained. The measured value obtained by discrete wavelet transform is compared with the exact RMS value of the frequency component and the percentage differences are presented which helps to select optimum mother wavelet.

Switched-Observer-Based Adaptive Neural Control of MIMO Switched Nonlinear Systems With Unknown Control Gains.

Science.gov (United States)

Long, Lijun; Zhao, Jun

2017-07-01

In this paper, the problem of adaptive neural output-feedback control is addressed for a class of multi-input multioutput (MIMO) switched uncertain nonlinear systems with unknown control gains. Neural networks (NNs) are used to approximate unknown nonlinear functions. In order to avoid the conservativeness caused by adoption of a common observer for all subsystems, an MIMO NN switched observer is designed to estimate unmeasurable states. A new switched observer-based adaptive neural control technique for the problem studied is then provided by exploiting the classical average dwell time (ADT) method and the backstepping method and the Nussbaum gain technique. It effectively handles the obstacle about the coexistence of multiple Nussbaum-type function terms, and improves the classical ADT method, since the exponential decline property of Lyapunov functions for individual subsystems is no longer satisfied. It is shown that the technique proposed is able to guarantee semiglobal uniformly ultimately boundedness of all the signals in the closed-loop system under a class of switching signals with ADT, and the tracking errors converge to a small neighborhood of the origin. The effectiveness of the approach proposed is illustrated by its application to a two inverted pendulum system.

Nonlinear Phenomena in the Single-Mode Dynamics in an AFM Cantilever Beam

KAUST Repository

Ruzziconi, Laura

2016-12-05

This study deals with the nonlinear dynamics arising in an atomic force microscope cantilever beam. After analyzing the static behavior, a single degree of freedom Galerkin reduced order model is introduced, which describes the overall scenario of the structure response in a neighborhood of the primary resonance. Extensive numerical simulations are performed when both the forcing amplitude and frequency are varied, ranging from low up to elevated excitations. The coexistence of competing attractors with different characteristics is analyzed. Both the non-resonant and the resonant behavior are observed, as well as ranges of inevitable escape. Versatility of behavior is highlighted, which may be attractive in applications. Special attention is devoted to the effects of the tip-sample separation distance, since this aspect is of fundamental importance to understand the operation of an AFM. We explore the metamorphoses of the multistability region when the tip-sample separation distance is varied. To have a complete description of the AFM response, comprehensive behavior charts are introduced to detect the theoretical boundaries of appearance and disappearance of the main attractors. Also, extensive numerical simulations investigate the AFM response when both the forcing amplitude and the tip-sample separation distance are considered as control parameters. The main features are analyzed in detail and the obtained results are interpreted in terms of oscillations of the cantilever-tip ensemble. However, we note that all the aforementioned results represent the limit when disturbances are absent, which never occurs in practice. Here comes the importance of overcoming local investigations and exploring dynamics from a global perspective, by introducing dynamical integrity concepts. To extend the AFM results to the practical case where disturbances exist, we develop a dynamical integrity analysis. After performing a systematic basin of attraction analysis, integrity

On Mixed Data and Event Driven Design for Adaptive-Critic-Based Nonlinear $H_{\\infty}$ Control.

Science.gov (United States)

Wang, Ding; Mu, Chaoxu; Liu, Derong; Ma, Hongwen

2018-04-01

In this paper, based on the adaptive critic learning technique, the control for a class of unknown nonlinear dynamic systems is investigated by adopting a mixed data and event driven design approach. The nonlinear control problem is formulated as a two-player zero-sum differential game and the adaptive critic method is employed to cope with the data-based optimization. The novelty lies in that the data driven learning identifier is combined with the event driven design formulation, in order to develop the adaptive critic controller, thereby accomplishing the nonlinear control. The event driven optimal control law and the time driven worst case disturbance law are approximated by constructing and tuning a critic neural network. Applying the event driven feedback control, the closed-loop system is built with stability analysis. Simulation studies are conducted to verify the theoretical results and illustrate the control performance. It is significant to observe that the present research provides a new avenue of integrating data-based control and event-triggering mechanism into establishing advanced adaptive critic systems.

Immiscible three-dimensional fingering in porous media: A weakly nonlinear analysis

Science.gov (United States)

Brandão, Rodolfo; Dias, Eduardo O.; Miranda, José A.

2018-03-01

We present a weakly nonlinear theory for the development of fingering instabilities that arise at the interface between two immiscible viscous fluids flowing radially outward in a uniform three-dimensional (3D) porous medium. By employing a perturbative second-order mode-coupling scheme, we investigate the linear stability of the system as well as the emergence of intrinsically nonlinear finger branching events in this 3D environment. At the linear stage, we find several differences between the 3D radial fingering and its 2D counterpart (usual Saffman-Taylor flow in radial Hele-Shaw cells). These include the algebraic growth of disturbances and the existence of regions of absolute stability for finite values of viscosity contrast and capillary number in the 3D system. On the nonlinear level, our main focus is to get analytical insight into the physical mechanism resulting in the occurrence of finger tip-splitting phenomena. In this context, we show that the underlying mechanism leading to 3D tip splitting relies on the coupling between the fundamental interface modes and their first harmonics. However, we find that in three dimensions, in contrast to the usual 2D fingering structures normally encountered in radial Hele-Shaw flows, tip splitting into three branches can also be observed.

Research on Francis Turbine Modeling for Large Disturbance Hydropower Station Transient Process Simulation

Directory of Open Access Journals (Sweden)

Guangtao Zhang

2015-01-01

Full Text Available In the field of hydropower station transient process simulation (HSTPS, characteristic graph-based iterative hydroturbine model (CGIHM has been widely used when large disturbance hydroturbine modeling is involved. However, by this model, iteration should be used to calculate speed and pressure, and slow convergence or no convergence problems may be encountered for some reasons like special characteristic graph profile, inappropriate iterative algorithm, or inappropriate interpolation algorithm, and so forth. Also, other conventional large disturbance hydroturbine models are of some disadvantages and difficult to be used widely in HSTPS. Therefore, to obtain an accurate simulation result, a simple method for hydroturbine modeling is proposed. By this method, both the initial operating point and the transfer coefficients of linear hydroturbine model keep changing during simulation. Hence, it can reflect the nonlinearity of the hydroturbine and be used for Francis turbine simulation under large disturbance condition. To validate the proposed method, both large disturbance and small disturbance simulations of a single hydrounit supplying a resistive, isolated load were conducted. It was shown that the simulation result is consistent with that of field test. Consequently, the proposed method is an attractive option for HSTPS involving Francis turbine modeling under large disturbance condition.

Zero-sum two-player game theoretic formulation of affine nonlinear discrete-time systems using neural networks.

Science.gov (United States)

Mehraeen, Shahab; Dierks, Travis; Jagannathan, S; Crow, Mariesa L

2013-12-01

In this paper, the nearly optimal solution for discrete-time (DT) affine nonlinear control systems in the presence of partially unknown internal system dynamics and disturbances is considered. The approach is based on successive approximate solution of the Hamilton-Jacobi-Isaacs (HJI) equation, which appears in optimal control. Successive approximation approach for updating control and disturbance inputs for DT nonlinear affine systems are proposed. Moreover, sufficient conditions for the convergence of the approximate HJI solution to the saddle point are derived, and an iterative approach to approximate the HJI equation using a neural network (NN) is presented. Then, the requirement of full knowledge of the internal dynamics of the nonlinear DT system is relaxed by using a second NN online approximator. The result is a closed-loop optimal NN controller via offline learning. A numerical example is provided illustrating the effectiveness of the approach.

Trajectory Control of Scale-Free Dynamical Networks with Exogenous Disturbances

International Nuclear Information System (INIS)

Yang Hongyong; Zhang Shun; Zong Guangdeng

2011-01-01

In this paper, the trajectory control of multi-agent dynamical systems with exogenous disturbances is studied. Suppose multiple agents composing of a scale-free network topology, the performance of rejecting disturbances for the low degree node and high degree node is analyzed. Firstly, the consensus of multi-agent systems without disturbances is studied by designing a pinning control strategy on a part of agents, where this pinning control can bring multiple agents' states to an expected consensus track. Then, the influence of the disturbances is considered by developing disturbance observers, and disturbance observers based control (DOBC) are developed for disturbances generated by an exogenous system to estimate the disturbances. Asymptotical consensus of the multi-agent systems with disturbances under the composite controller can be achieved for scale-free network topology. Finally, by analyzing examples of multi-agent systems with scale-free network topology and exogenous disturbances, the verities of the results are proved. Under the DOBC with the designed parameters, the trajectory convergence of multi-agent systems is researched by pinning two class of the nodes. We have found that it has more stronger robustness to exogenous disturbances for the high degree node pinned than that of the low degree node pinned. (interdisciplinary physics and related areas of science and technology)

Cascaded nonlinearities for ultrafast nonlinear optical science and applications

DEFF Research Database (Denmark)

Bache, Morten

the cascading nonlinearity is investigated in detail, especially with focus on femtosecond energetic laser pulses being subjected to this nonlinear response. Analytical, numerical and experimental results are used to understand the cascading interaction and applications are demonstrated. The defocusing soliton...... observations with analogies in fiber optics are observed numerically and experimentally, including soliton self-compression, soliton-induced resonant radiation, supercontinuum generation, optical wavebreaking and shock-front formation. All this happens despite no waveguide being present, thanks...... is of particular interest here, since it is quite unique and provides the solution to a number of standing challenges in the ultrafast nonlinear optics community. It solves the problem of catastrophic focusing and formation of a filaments in bulk glasses, which even under controlled circumstances is limited...

Optimal Tuning of Multivariable Disturbance-Observer-Based Control for Flicker Mitigation Using Individual Pitch Control of Wind Turbine

DEFF Research Database (Denmark)

Raja, Muhammad Imran; Hussain, Dil muhammed Akbar; Soltani, Mohsen

2017-01-01

Multivariable disturbance accommodated observer based control (DOBC) scheme is presented to mitigate loads generated due to wind shear and tower shadow using individual blade pitch for above-rated wind speed condition of wind turbine. Wind shear and tower shadow add flickers as 1p, 3p, 6p and so on......, (p is the rotor rotational frequency) for three-bladed wind turbine. Novel DOBC with individual pitch control (IPC) to mitigate the flickers is presented and linear state-space model of wind turbine with tower dynamics is developed. The proposed controller is tuned using optimal control theory...... density of generator speed, drive-train torsion and tower fore-aft moment shows better mitigation to the flickers by proposed controller as compared with proportional–integral (PI) and disturbance accommodation control (DAC) with collective pitch control. Furthermore, it shows less degradation...

Effects of climate change on ecological disturbances [Chapter 8

Science.gov (United States)

Danielle M. Malesky; Barbara J. Bentz; Gary R. Brown; Andrea R. Brunelle; John M. Buffington; Linda M. Chappell; R. Justin DeRose; John C. Guyon; Carl L. Jorgensen; Rachel A. Loehman; Laura L. Lowrey; Ann M. Lynch; Marek Matyjasik; Joel D. McMillin; Javier E. Mercado; Jesse L. Morris; Jose F. Negron; Wayne G. Padgett; Robert A. Progar; Carol B. Randall

2018-01-01

This chapter describes disturbance regimes in the Intermountain Adaptation Partnership (IAP) region, and potential shifts in these regimes as a consequence of observed and projected climate change. The term "disturbance regime" describes the general temporal and spatial characteristics of a disturbance agent (e.g., insects, disease, fire, weather, human...

Time-domain Green's Function Method for three-dimensional nonlinear subsonic flows

Science.gov (United States)

Tseng, K.; Morino, L.

1978-01-01

The Green's Function Method for linearized 3D unsteady potential flow (embedded in the computer code SOUSSA P) is extended to include the time-domain analysis as well as the nonlinear term retained in the transonic small disturbance equation. The differential-delay equations in time, as obtained by applying the Green's Function Method (in a generalized sense) and the finite-element technique to the transonic equation, are solved directly in the time domain. Comparisons are made with both linearized frequency-domain calculations and existing nonlinear results.

Robust Position Control of Electro-mechanical Systems

OpenAIRE

Rong Mei; Mou Chen

2013-01-01

In this work, the robust position control scheme is proposed for the electro-mechanical system using the disturbance observer and backstepping control method. To the external unknown load of the electro-mechanical system, the nonlinear disturbance observer is given to estimate the external unknown load. Combining the output of the developed nonlinear disturbance observer with backstepping technology, the robust position control scheme is proposed for the electro-mechanical system. The stabili...

Global Harmonic Current Rejection of Nonlinear Backstepping Control with Multivariable Adaptive Internal Model Principle for Grid-Connected Inverter under Distorted Grid Voltage

Directory of Open Access Journals (Sweden)

Yang Yu

2013-01-01

Full Text Available Based on a brief review on current harmonics generation mechanism for grid-connected inverter under distorted grid voltage, the harmonic disturbances and uncertain items are immersed into the original state-space differential equation of grid-connected inverter. A new algorithm of global current harmonic rejection based on nonlinear backstepping control with multivariable internal model principle is proposed for grid-connected inverter with exogenous disturbances and uncertainties. A type of multivariable internal model for a class of nonlinear harmonic disturbances is constructed. Based on application of backstepping control law of the nominal system, a multivariable adaptive state feedback controller combined with multivariable internal model and adaptive control law is designed to guarantee the closed-loop system globally uniformly bounded, which is proved by a constructed Lyapunov function. The presented algorithm extends rejection of nonlinear single-input systems to multivariable globally defined normal form, the correctness and effectiveness of which are verified by the simulation results.

Strategies for Enhancing Nonlinear Internal Model Control of pH Processes

Energy Technology Data Exchange (ETDEWEB)

Hu, Qiuping.; Rangaiah, G.P. [The National University of Singapore, Singapore (Singapore). Dept. of Chemical and Environmental Engineering

1999-02-01

Control of neutralization processes is very difficult due to nonlinear dynamics, different types of disturbances and modeling errors. The objective of the paper is to evaluate two strategies (augmented internal model control, AuIMC and adaptive internal model control, AdIMC) for enhancing pH control by nonlinear internal model control (NIMC). A NIMC controller is derived directly form input output linearization. The AuIMC is composed of NIMC and an additional loop through which the difference between the process and model outputs is fed back and added to the input of the controller. For the AdIMC, and adaptive law with two tuning parameters is proposed for estimating the unknown parameter. Both AuIMC and AdIMC are extensively tested via simulation for pH neutralization. The theoretical and simulation results show that both the proposed strategies can reduce the effect of modeling errors and disturbances, and thereby enhance the performance of NIMC for pH processes. (author)

Adaptive Neural Output-Feedback Control for a Class of Nonlower Triangular Nonlinear Systems With Unmodeled Dynamics.

Science.gov (United States)

Wang, Huanqing; Liu, Peter Xiaoping; Li, Shuai; Wang, Ding

2017-08-29

This paper presents the development of an adaptive neural controller for a class of nonlinear systems with unmodeled dynamics and immeasurable states. An observer is designed to estimate system states. The structure consistency of virtual control signals and the variable partition technique are combined to overcome the difficulties appearing in a nonlower triangular form. An adaptive neural output-feedback controller is developed based on the backstepping technique and the universal approximation property of the radial basis function (RBF) neural networks. By using the Lyapunov stability analysis, the semiglobally and uniformly ultimate boundedness of all signals within the closed-loop system is guaranteed. The simulation results show that the controlled system converges quickly, and all the signals are bounded. This paper is novel at least in the two aspects: 1) an output-feedback control strategy is developed for a class of nonlower triangular nonlinear systems with unmodeled dynamics and 2) the nonlinear disturbances and their bounds are the functions of all states, which is in a more general form than existing results.

Nonlinear Disturbance Attenuation Controller for Turbo-Generators in Power Systems via Recursive Design

NARCIS (Netherlands)

Cao, M.; Shen, T.L.; Song, Y.H.; Mei, S.W.

2002-01-01

The paper proposes a nonlinear robust controller for steam governor control in power systems. Based on dissipation theory, an innovative recursive design method is presented to construct the storage function of single machine infinite bus (SMIB) and multi-machine power systems. Furthermore, the

Solar-terrestrial disturbances of June-September 1982, 4

International Nuclear Information System (INIS)

Minakoshi, Hisamitsu; Sinno, Kenji; Nishimuta, Ichizo

1986-01-01

The ionospheric disturbances observed in and around Japan in association with the severe geomagnetic storm occurring on July 14 - 16, 1982 were investigated by using ionospheric total electron content (N t ) data obtained by the ETS-II beacon experiment and F region data obtained by the soundings at the latitude chain of the ionospheric stations situated nearly along 135 deg E. The most remarkable storm effect was of the negative disturbance, which is common at mid-latitudes in summer. The negative disturbance comprises the decreases in N t and peak electron density (N m ) and a marked increase in slab thickness. In addition, the following interesting events were observed during this storm: (1) sharp depressions in N t and N m occurred almost simultaneously in the regions from mid-latitudes to the equatorial latitude within a few hours after the storm sudden commencement (SSC), (2) some positive disturbances in the F region appeared during the recovery phase of the storm, and were prominent during the night at mid-latitudes and during the daytime at low latitudes, and (3) wavelike fluctuations of N t , which indicate the existence of a mediumscale traveling ionospheric disturbance (TID) with a nearly north to south direction of propagation, were observed during the main phase. (author)

Nonlinear diffraction from a virtual beam

DEFF Research Database (Denmark)

Saltiel, Solomon M.; Neshev, Dragomir N.; Krolikowski, Wieslaw

2010-01-01

We observe experimentally a novel type of nonlinear diffraction in the process of two-wave mixing on a nonlinear quadratic grating.We demonstrate that when the nonlinear grating is illuminated simultaneously by two noncollinear beams, a second-harmonic diffraction pattern is generated by a virtual...... beam propagating along the bisector of the two pump beams. The observed iffraction phenomena is a purely nonlinear effect that has no analogue in linear diffraction...

Nonlinear effects in dynamic analysis and design of nuclear power plant components: research status and needs

Energy Technology Data Exchange (ETDEWEB)

Stoykovich, M [Burns and Roe, Inc., New York (USA)

1978-10-01

This paper encompasses nonlinear effects in dynamic analysis and design of nuclear power plant facilities. The history of plasticity as a science is briefly discussed, and nonlinear cases of special interest are described. Approaches to some of the nonlinear problems are presented. These include the nonlinearity due to foundation-structure interaction associated with the base slab uplift during seismic disturbances, the nonlinear base-isolation system for the reduction of earthquake-generated forces and deformations of superstructures, nonlinear systems having restoring-force functions in case of gaps and liift-off conditions, and nonlinearity of viscoelastic systems due to inelastic deformations. Available computer programs information for the solution of various types of nonlinear problems are provided. Advantages and disadvantages of some of the nonlinear and linear analyses are discussed. Comparison of some nonlinear and linear results of analyses are presented. Conclusions are reached with regard to research status and recommendations for further studies and for performing non-linear analyses associated with the problems of nonlinearity are presented.

Nonlinear effects in dynamic analysis and design of nuclear power plant components: research status and needs

International Nuclear Information System (INIS)

Stoykovich, M.

1978-01-01

This paper encompasses nonlinear effects in dynamic analysis and design of nuclear power plant facilities. The history of plasticity as a science is briefly discussed, and nonlinear cases of special interest are described. Approaches to some of the nonlinear problems are presented. These include the nonlinearity due to foundation-structure interaction associated with the base slab uplift during seismic disturbances, the nonlinear base-isolation system for the reduction of earthquake-generated forces and deformations of superstructures, nonlinear systems having restoring-force functions in case of gaps and liift-off conditions, and nonlinearity of viscoelastic systems due to inelastic deformations. Available computer programs information for the solution of various types of nonlinear problems are provided. Advantages and disadvantages of some of the nonlinear and linear analyses are discussed. Comparison of some nonlinear and linear results of analyses are presented. Conclusions are reached with regard to research status and recommendations for further studies and for performing non-linear analyses associated with the problems of nonlinearity are presented. (Auth.)

Neurobiological basis of parenting disturbance.

Science.gov (United States)

Newman, Louise K; Harris, Melissa; Allen, Joanne

2011-02-01

It has been proposed that early attachment relationships shape the structure and reactivity of social brain structures that underlie later social capacities. We provide a review of the literature surrounding the development of neurological regulatory systems during infancy and outline recent research suggesting these systems go on to underlie adaptive parental responses. We review evidence in the peer-reviewed psychiatric literature including (i) observational human literature on the neurobiological and social sequelae of early parenting experiences, (ii) experimental animal literature on the effects of early maternal care on neurological development, (iii) experimental animal literature on the neurobiological underpinnings of parenting behaviours, (iv) observational and fMRI evidence on the neurobiological correlates of parenting behaviours, (v) functional and volumetric imaging studies on adults affected by borderline personality disorder. The development of infant regulatory systems is influenced by early parenting experiences. These frontolimbic regulatory systems are also heavily implicated in normal parental responses to infant cues. These frontolimbic disturbances are also observed in studies of borderline personality disorder; a disorder associated with poor emotional regulation, early trauma and disturbed parenting. While the current literature is limited to animal models of abnormal care giving, existing disorders associated with deficits in regulatory capacity and abnormal frontolimbic functioning may yet provide a human model of the neurobiology of parenting disturbance.

Consequences of increasing hypoxic disturbance on benthic communities and ecosystem functioning.

Directory of Open Access Journals (Sweden)

Anna Villnäs

Full Text Available Disturbance-mediated species loss has prompted research considering how ecosystem functions are changed when biota is impaired. However, there is still limited empirical evidence from natural environments evaluating the direct and indirect (i.e. via biota effects of disturbance on ecosystem functioning. Oxygen deficiency is a widespread threat to coastal and estuarine communities. While the negative impacts of hypoxia on benthic communities are well known, few studies have assessed in situ how benthic communities subjected to different degrees of hypoxic stress alter their contribution to ecosystem functioning. We studied changes in sediment ecosystem function (i.e. oxygen and nutrient fluxes across the sediment water-interface by artificially inducing hypoxia of different durations (0, 3, 7 and 48 days in a subtidal sandy habitat. Benthic chamber incubations were used for measuring responses in sediment oxygen and nutrient fluxes. Changes in benthic species richness, structure and traits were quantified, while stress-induced behavioral changes were documented by observing bivalve reburial rates. The initial change in faunal behavior was followed by non-linear degradation in benthic parameters (abundance, biomass, bioturbation potential, gradually impairing the structural and functional composition of the benthic community. In terms of ecosystem function, the increasing duration of hypoxia altered sediment oxygen consumption and enhanced sediment effluxes of NH(4(+ and dissolved Si. Although effluxes of PO(4(3- were not altered significantly, changes were observed in sediment PO(4(3- sorption capability. The duration of hypoxia (i.e. number of days of stress explained a minor part of the changes in ecosystem function. Instead, the benthic community and disturbance-driven changes within the benthos explained a larger proportion of the variability in sediment oxygen- and nutrient fluxes. Our results emphasize that the level of stress to the

Longitudinal propagation of nonlinear surface Alfven waves at a magnetic interface in a compressible atmosphere

Energy Technology Data Exchange (ETDEWEB)

Ruderman, M S

1988-08-01

Nonlinear Alfven surface wave propagation at a magnetic interface in a compressible fluid is considered. It is supposed that the magnetic field directions at both sides of the interface and the direction of wave propagation coincide. The equation governing time-evolution of nonlinear small-amplitude waves is derived by the method of multiscale expansions. This equation is similar to the equation for nonlinear Alfven surface waves in an incompressible fluid derived previously. The numerical solution of the equation shows that a sinusoidal disturbance overturns, i.e. infinite gradients arise.

Application of non-linear discretetime feedback regulators with assignable closed-loop dynamics

Directory of Open Access Journals (Sweden)

Dubljević Stevan

2003-01-01

Full Text Available In the present work the application of a new approach is demonstrated to a discrete-time state feedback regulator synthesis with feedback linearization and pole-placement for non-linear discrete-time systems. Under the simultaneous implementation of a non-linear coordinate transformation and a non-linear state feedback law computed through the solution of a system of non-linear functional equations, both the feedback linearization and pole-placement design objectives were accomplished. The non-linear state feedback regulator synthesis method was applied to a continuous stirred tank reactor (CSTR under non-isothermal operating conditions that exhibits steady-state multiplicity. The control objective was to regulate the reactor at the middle unstable steady state by manipulating the rate of input heat in the reactor. Simulation studies were performed to evaluate the performance of the proposed non-linear state feedback regulator, as it was shown a non-linear state feedback regulator clearly outperformed a standard linear one, especially in the presence of adverse disturbance under which linear regulation at the unstable steady state was not feasible.

A New Finite-Time Observer for Nonlinear Systems: Applications to Synchronization of Lorenz-Like Systems

Directory of Open Access Journals (Sweden)

Ricardo Aguilar-López

2016-01-01

Full Text Available This paper proposes a synchronization methodology of two chaotic oscillators under the framework of identical synchronization and master-slave configuration. The proposed methodology is based on state observer design under the frame of control theory; the observer structure provides finite-time synchronization convergence by cancelling the upper bounds of the main nonlinearities of the chaotic oscillator. The above is showed via an analysis of the dynamic of the so called synchronization error. Numerical experiments corroborate the satisfactory results of the proposed scheme.

Disturbance hydrology: Preparing for an increasingly disturbed future

Science.gov (United States)

Mirus, Benjamin B.; Ebel, Brian A.; Mohr, Christian H.; Zegre, Nicolas

2017-01-01

This special issue is the result of several fruitful conference sessions on disturbance hydrology, which started at the 2013 AGU Fall Meeting in San Francisco and have continued every year since. The stimulating presentations and discussions surrounding those sessions have focused on understanding both the disruption of hydrologic functioning following discrete disturbances, as well as the subsequent recovery or change within the affected watershed system. Whereas some hydrologic disturbances are directly linked to anthropogenic activities, such as resource extraction, the contributions to this special issue focus primarily on those with indirect or less pronounced human involvement, such as bark-beetle infestation, wildfire, and other natural hazards. However, human activities are enhancing the severity and frequency of these seemingly natural disturbances, thereby contributing to acute hydrologic problems and hazards. Major research challenges for our increasingly disturbed planet include the lack of continuous pre- and post-disturbance monitoring, hydrologic impacts that vary spatially and temporally based on environmental and hydroclimatic conditions, and the preponderance of overlapping or compounding disturbance sequences. In addition, a conceptual framework for characterizing commonalities and differences among hydrologic disturbances is still in its infancy. In this introduction to the special issue, we advance the fusion of concepts and terminology from ecology and hydrology to begin filling this gap. We briefly explore some preliminary approaches for comparing different disturbances and their hydrologic impacts, which provides a starting point for further dialogue and research progress.

Ionospheric irregularities in periods of meteorological disturbances

Science.gov (United States)

Borchevkina, O. P.; Karpov, I. V.

2017-09-01

The results of observations of the total electron content (TEC) in periods of storm disturbances of meteorological situation are presented in the paper. The observational results have shown that a passage of a meteorological storm is accompanied by a substantial decrease in values of TEC and critical frequencies of the ionospheric F2 region. The decreases in values of these ionospheric parameters reach 50% and up to 30% in TEC and critical frequency of the F2 layer, respectively, as compared to meteorologically quiet days. Based on qualitative analysis, it is found that the processes related to formation of local regions of thermospheric heating due to a dissipation of AGW coming into the upper atmosphere from the region of the meteorological disturbance in the lower atmosphere are a possible cause of these ionospheric disturbances.

Disturbing forest disturbances

Energy Technology Data Exchange (ETDEWEB)

Volney, W.J.A.; Hirsch, K.G. [Natural Resources Canada, Canadian Forest Service, Northern Forestry Centre, Edmonton, AB (Canada)

2005-10-01

This paper described the role that disturbances play in maintaining the ecological integrity of Canadian boreal forests. Potential adaptation options to address the challenges that these disturbances present were also examined. Many forest ecosystems need fire for regeneration, while other forests rely on a cool, wet disintegration process driven by insects and commensal fungi feeding on trees to effect renewal. While there are characteristic natural, temporal and spatial patterns to these disturbances, recent work has demonstrated that the disturbances are being perturbed by climatic change that has been compounded by anthropogenic disturbances in forests. Fire influences species composition and age structure, regulates forest insects and diseases, affects nutrient cycling and energy fluxes, and maintains the productivity of different habitats. Longer fire seasons as a result of climatic change will lead to higher intensity fires that may more easily evade initial attacks and become problematic. Fire regimes elevated beyond the range of natural variation will have a dramatic effect on the regional distribution and functioning of forest ecosystems and pose a threat to the safety and prosperity of people. While it was acknowledged that if insect outbreaks were to be controlled on the entire forest estate, the productivity represented by dead wood would be lost, it was suggested that insects such as the forest tent caterpillar and the spruce bud worm may also pose a greater threat as the climate gets warmer and drier. Together with fungal associates, saproxylic arthropods are active in nutrient cycling and ultimately determine the fertility of forest sites. It was suggested that the production of an age class structure and forest mosaic would render the forest landscape less vulnerable to the more negative aspects of climate change on vegetation response. It was concluded that novel management design paradigms are needed to successfully reduce the risk from threats

Observer-based adaptive control of chaos in nonlinear discrete-time systems using time-delayed state feedback

International Nuclear Information System (INIS)

Goharrizi, Amin Yazdanpanah; Khaki-Sedigh, Ali; Sepehri, Nariman

2009-01-01

A new approach to adaptive control of chaos in a class of nonlinear discrete-time-varying systems, using a delayed state feedback scheme, is presented. It is discussed that such systems can show chaotic behavior as their parameters change. A strategy is employed for on-line calculation of the Lyapunov exponents that will be used within an adaptive scheme that decides on the control effort to suppress the chaotic behavior once detected. The scheme is further augmented with a nonlinear observer for estimation of the states that are required by the controller but are hard to measure. Simulation results for chaotic control problem of Jin map are provided to show the effectiveness of the proposed scheme.

Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

Directory of Open Access Journals (Sweden)

Qingsong Ai

2017-12-01

Full Text Available A rehabilitation robot plays an important role in relieving the therapists’ burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles’ good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs. To solve the PM’s nonlinear characteristics during operation and to tackle the human-robot uncertainties in rehabilitation, an adaptive backstepping sliding mode control (ABS-SMC method is proposed in this paper. The human-robot external disturbance can be estimated by an observer, who is then used to adjust the robot output to accommodate external changes. The system stability is guaranteed by the Lyapunov stability theorem. Experimental results on the compliant ankle rehabilitation robot show that the proposed ABS-SMC is able to estimate the external disturbance online and adjust the control output in real time during operation, resulting in a higher trajectory tracking accuracy and better response performance especially in dynamic conditions.

Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot.

Science.gov (United States)

Ai, Qingsong; Zhu, Chengxiang; Zuo, Jie; Meng, Wei; Liu, Quan; Xie, Sheng Q; Yang, Ming

2017-12-28

A rehabilitation robot plays an important role in relieving the therapists' burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles' good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF) parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs). To solve the PM's nonlinear characteristics during operation and to tackle the human-robot uncertainties in rehabilitation, an adaptive backstepping sliding mode control (ABS-SMC) method is proposed in this paper. The human-robot external disturbance can be estimated by an observer, who is then used to adjust the robot output to accommodate external changes. The system stability is guaranteed by the Lyapunov stability theorem. Experimental results on the compliant ankle rehabilitation robot show that the proposed ABS-SMC is able to estimate the external disturbance online and adjust the control output in real time during operation, resulting in a higher trajectory tracking accuracy and better response performance especially in dynamic conditions.

Asymptotic tracking and disturbance rejection of the blood glucose regulation system.

Science.gov (United States)

Ashley, Brandon; Liu, Weijiu

2017-07-01

Type 1 diabetes patients need external insulin to maintain blood glucose within a narrow range from 65 to 108 mg/dl (3.6 to 6.0 mmol/l). A mathematical model for the blood glucose regulation is required for integrating a glucose monitoring system into insulin pump technology to form a closed-loop insulin delivery system on the feedback of the blood glucose, the so-called "artificial pancreas". The objective of this paper is to treat the exogenous glucose from food as a glucose disturbance and then develop a closed-loop feedback and feedforward control system for the blood glucose regulation system subject to the exogenous glucose disturbance. For this, a mathematical model for the glucose disturbance is proposed on the basis of experimental data, and then incorporated into an existing blood glucose regulation model. Because all the eigenvalues of the disturbance model have zero real parts, the center manifold theory is used to establish blood glucose regulator equations. We then use their solutions to synthesize a required feedback and feedforward controller to reject the disturbance and asymptotically track a constant glucose reference of 90  mg/dl. Since the regulator equations are nonlinear partial differential equations and usually impossible to solve analytically, a linear approximation solution is obtained. Our numerical simulations show that, under the linear approximate feedback and feedforward controller, the blood glucose asymptotically tracks its desired level of 90 mg/dl approximately. Copyright © 2017 Elsevier Inc. All rights reserved.

NONLINEAR DYNAMO IN A ROTATING ELECTRICALLY CONDUCTING FLUID

Directory of Open Access Journals (Sweden)

M. I. Kopp

2017-05-01

Full Text Available We found a new large-scale instability, which arises in the rotating conductive fluid with small-scale turbulence. Turbulence is generated by small-scale external force with a low Reynolds number. The theory is built simply by the method of multiscale asymptotic expansions. Nonlinear equations for vortex and magnetic perturbations obtained in the third order for small Reynolds number. It is shown that the combined effects of the Coriolis force and the small external forces in a rotating conducting fluid possible large-scale instability. The large-scale increments of the instability, correspond to generation as the vortex and magnetic disturbances. This type of instability is classified as hydrodynamic and MHD alpha-effect. We studied the stationary regimes of nonlinear equations of magneto-vortex dynamo. In the limit of weakly conducting fluid found stationary solutions in the form of helical kinks. In the limit of high conductivity fluid was obtained stationary solutions in the form of nonlinear periodic waves and kinks.

Crossflow-Vortex Breakdown on Swept Wings: Correlation of Nonlinear Physics

Science.gov (United States)

Joslin, R. D.; Streett, C. L.

1994-01-01

The spatial evolution of cross flow-vortex packets in a laminar boundary layer on a swept wing are computed by the direct numerical simulation of the incompressible Navier- Stokes equations. A wall-normal velocity distribution of steady suction and blowing at the wing surface is used to generate a strip of equally spaced and periodic disturbances along the span. Three simulations are conducted to study the effect of initial amplitude on the disturbance evolution, to determine the role of traveling cross ow modes in transition, and to devise a correlation function to guide theories of transition prediction. In each simulation, the vortex packets first enter a chordwise region of linear independent growth, then, the individual packets coalesce downstream and interact with adjacent packets, and, finally, the vortex packets nonlinearly interact to generate inflectional velocity profiles. As the initial amplitude of the disturbance is increased, the length of the evolution to breakdown decreases. For this pressure gradient, stationary modes dominate the disturbance evolution. A two-coeffcient function was devised to correlate the simulation results. The coefficients, combined with a single simulation result, provide sufficient information to generate the evolution pattern for disturbances of any initial amplitude.

The nonlinear effects on the characteristics of gravity wave packets: dispersion and polarization relations

Directory of Open Access Journals (Sweden)

S.-D. Zhang

2000-10-01

Full Text Available By analyzing the results of the numerical simulations of nonlinear propagation of three Gaussian gravity-wave packets in isothermal atmosphere individually, the nonlinear effects on the characteristics of gravity waves are studied quantitatively. The analyses show that during the nonlinear propagation of gravity wave packets the mean flows are accelerated and the vertical wavelengths show clear reduction due to nonlinearity. On the other hand, though nonlinear effects exist, the time variations of the frequencies of gravity wave packets are close to those derived from the dispersion relation and the amplitude and phase relations of wave-associated disturbance components are consistent with the predictions of the polarization relation of gravity waves. This indicates that the dispersion and polarization relations based on the linear gravity wave theory can be applied extensively in the nonlinear region.Key words: Meteorology and atmospheric dynamics (middle atmosphere dynamics; waves and tides

Simulations and observation of nonlinear internal waves on the continental shelf: Korteweg–de Vries and extended Korteweg–de Vries solutions

Directory of Open Access Journals (Sweden)

K. O'Driscoll

2017-09-01

Full Text Available Numerical solutions of the Korteweg–de Vries (KdV and extended Korteweg–de Vries (eKdV equations are used to model the transformation of a sinusoidal internal tide as it propagates across the continental shelf. The ocean is idealized as being a two-layer fluid, justified by the fact that most of the oceanic internal wave signal is contained in the gravest mode. The model accounts for nonlinear and dispersive effects but neglects friction, rotation and mean shear. The KdV model is run for a number of idealized stratifications and unique realistic topographies to study the role of the nonlinear and dispersive effects. In all model solutions the internal tide steepens forming a sharp front from which a packet of nonlinear solitary-like waves evolve. Comparisons between KdV and eKdV solutions are made. The model results for realistic topography and stratification are compared with observations made at moorings off Massachusetts in the Middle Atlantic Bight. Some features of the observations compare well with the model. The leading face of the internal tide steepens to form a shock-like front, while nonlinear high-frequency waves evolve shortly after the appearance of the jump. Although not rank ordered, the wave of maximum amplitude is always close to the jump. Some features of the observations are not found in the model. Nonlinear waves can be very widely spaced and persist over a tidal period.

Integrated Power and Attitude Control Design of Satellites Based on a Fuzzy Adaptive Disturbance Observer Using Variable-Speed Control Moment Gyros

Directory of Open Access Journals (Sweden)

Zhongyi Chu

2016-01-01

Full Text Available To satisfy the requirements for small satellites that seek agile slewing with peak power, this paper investigates integrated power and attitude control using variable-speed control moment gyros (VSCMGs that consider the mass and inertia of gimbals and wheels. The paper also details the process for developing the controller by considering various environments in which the controller may be implemented. A fuzzy adaptive disturbance observer (FADO is proposed to estimate and compensate for the effects of equivalent disturbances. The algorithms can simultaneously track attitude and power. The simulation results illustrate the effectiveness of the control approach, which exhibits an improvement of 80 percent compared with alternate approaches that do not employ a FADO.

Disturbance Hydrology: Preparing for an Increasingly Disturbed Future

Science.gov (United States)

Mirus, Benjamin B.; Ebel, Brian A.; Mohr, Christian H.; Zegre, Nicolas

2017-12-01

This special issue is the result of several fruitful conference sessions on disturbance hydrology, which started at the 2013 AGU Fall Meeting in San Francisco and have continued every year since. The stimulating presentations and discussions surrounding those sessions have focused on understanding both the disruption of hydrologic functioning following discrete disturbances, as well as the subsequent recovery or change within the affected watershed system. Whereas some hydrologic disturbances are directly linked to anthropogenic activities, such as resource extraction, the contributions to this special issue focus primarily on those with indirect or less pronounced human involvement, such as bark-beetle infestation, wildfire, and other natural hazards. However, human activities are enhancing the severity and frequency of these seemingly natural disturbances, thereby contributing to acute hydrologic problems and hazards. Major research challenges for our increasingly disturbed planet include the lack of continuous pre and postdisturbance monitoring, hydrologic impacts that vary spatially and temporally based on environmental and hydroclimatic conditions, and the preponderance of overlapping or compounding disturbance sequences. In addition, a conceptual framework for characterizing commonalities and differences among hydrologic disturbances is still in its infancy. In this introduction to the special issue, we advance the fusion of concepts and terminology from ecology and hydrology to begin filling this gap. We briefly explore some preliminary approaches for comparing different disturbances and their hydrologic impacts, which provides a starting point for further dialogue and research progress.

A dynamic load estimation method for nonlinear structures with unscented Kalman filter

Science.gov (United States)

Guo, L. N.; Ding, Y.; Wang, Z.; Xu, G. S.; Wu, B.

2018-02-01

A force estimation method is proposed for hysteretic nonlinear structures. The equation of motion for the nonlinear structure is represented in state space and the state variable is augmented by the unknown the time history of external force. Unscented Kalman filter (UKF) is improved for the force identification in state space considering the ill-condition characteristic in the computation of square roots for the covariance matrix. The proposed method is firstly validated by a numerical simulation study of a 3-storey nonlinear hysteretic frame excited by periodic force. Each storey is supposed to follow a nonlinear hysteretic model. The external force is identified and the measurement noise is considered in this case. Then a case of a seismically isolated building subjected to earthquake excitation and impact force is studied. The isolation layer performs nonlinearly during the earthquake excitation. Impact force between the seismically isolated structure and the retaining wall is estimated with the proposed method. Uncertainties such as measurement noise, model error in storey stiffness and unexpected environmental disturbances are considered. A real-time substructure testing of an isolated structure is conducted to verify the proposed method. In the experimental study, the linear main structure is taken as numerical substructure while the one of the isolations with additional mass is taken as the nonlinear physical substructure. The force applied by the actuator on the physical substructure is identified and compared with the measured value from the force transducer. The method proposed in this paper is also validated by shaking table test of a seismically isolated steel frame. The acceleration of the ground motion as the unknowns is identified by the proposed method. Results from both numerical simulation and experimental studies indicate that the UKF based force identification method can be used to identify external excitations effectively for the nonlinear

Nonlinear process generating Tollmien-Schlichting waves in a reattached boundary layer; Hakuri saifuchaku nagare ni okeru T-S hado no hisenkei reiki katei

Energy Technology Data Exchange (ETDEWEB)

Asai, M.; Aiba, K. [Tokyo Metropolitan Institute of Technology, Tokyo (Japan)

1995-09-01

Low-frequency Tollmien-Schlichting (T-S) waves may be thought generated as a result of high-frequency disturbance between two proximity frequency modes grown unstably in a separation shear layer causing secondary nonlinear interference to occur. This fact has been verified by a numerical simulation. A non-compression Navier-Stokes equation was used for the fundamental equation, a tertiary windward difference for the convection term, and a secondary central difference for other differential calculus. The Reynolds number was 200, and the disturbance was introduced by applying `v` variation continuously on the wall face. Non-introduction of the disturbance results in a steady flow. Disturbance frequencies of 0.15 and 0.20 were selected as disturbance frequencies from the relationship between the spatial amplification and the frequency dependency. The structure of the excited disturbance agreed with the intrinsic mode. The difference mode due to nonlinear interference grows as the basic mode was amplified. The basic mode decays sharply in the boundary layer after reattachment, while the difference mode decays slowly. Distribution of the difference mode is a distribution of viscous T-S waves, which may be converted into the intrinsic mode. 8 refs., 7 figs.

Handling process disturbances in petroleum production

Energy Technology Data Exchange (ETDEWEB)

Sten, T; Bodsberg, L; Ingstad, O; Ulleberg, T

1988-06-01

Factors of importance in successful handling of major disturbances and crisis situations in petroleum production are discussed. Case studies based on interviews, questionnaires and systematic observations have been undertaken to identify critical factors in human computer design, in operator competence and attitudes and in work organization. It is shown that certain features of the humancomputer interaction become critical when serious disturbances are encountered. Likewise focusing on requirements during disturbances in particular has highlighted some new aspects of operator competence and of the work organization. The results are considered to be useful input to safety management in petroleum process plants, in formation of design specifications and in identifying need for further research regarding safety in offshore production.

A method to identify aperiodic disturbances in the ionosphere

Science.gov (United States)

Wang, J.-S.; Chen, Z.; Huang, C.-M.

2014-05-01

In this paper, variations in the ionospheric F2 layer's critical frequency are decomposed into their periodic and aperiodic components. The latter include disturbances caused both by geophysical impacts on the ionosphere and random noise. The spectral whitening method (SWM), a signal-processing technique used in statistical estimation and/or detection, was used to identify aperiodic components in the ionosphere. The whitening algorithm adopted herein is used to divide the Fourier transform of the observed data series by a real envelope function. As a result, periodic components are suppressed and aperiodic components emerge as the dominant contributors. Application to a synthetic data set based on significant simulated periodic features of ionospheric observations containing artificial (and, hence, controllable) disturbances was used to validate the SWM for identification of aperiodic components. Although the random noise was somewhat enhanced by post-processing, the artificial disturbances could still be clearly identified. The SWM was then applied to real ionospheric observations. It was found to be more sensitive than the often-used monthly median method to identify geomagnetic effects. In addition, disturbances detected by the SWM were characterized by a Gaussian-type probability density function over all timescales, which further simplifies statistical analysis and suggests that the disturbances thus identified can be compared regardless of timescale.

A rationale for the observed non-linearity in pressure tube creep sag with time in service

International Nuclear Information System (INIS)

Sedran, P.J.

2013-01-01

In 2012, a paper was presented at the CNS SGC Conference which included an explanation for measured non-linear trends in Pressure Tube (PT) creep sag. The section of the 2012 paper covering this topic was revised and is presented as the main subject of this paper. The practical applications for the prediction of long-term Fuel Channel (FC) creep sag include the analysis of Calandria Tube - Liquid Injection Nozzle (CT-LIN) contact, and fuel passage and PT replacement assessments. The current practice for predicting FC creep sag in life cycle management applications is to use a linear model for creep sag versus time in service. However, PT sag measurements from the Point Lepreau Generating Station (PLGS) and Gentilly-2 (G-2) have displayed a non-linear trend with a creep sag rate that is decreasing with time in service. As an example, for PT F06 in PLGS, a 60% reduction in the nominal creep sag rate was observed for measurements taken 18 years apart. Subsequently, it was found that a 56% reduction in the creep sag rate for F06 over 18 years could be attributed to a fundamental geometric property of the PT creep sag profile. In addition, a further 1.6% decrease in the creep sag rate of the CT over the same period could be attributed to bending stress reductions due to the deformation of the CT. The resultant reduction in the PT creep sag rate for F06 was predicted to be 57.6%, closely matching the observed PT creep sag rate reduction of 60%. Therefore, this paper provides a rationale to explain the observed non-linear trends in PT creep sag, the use of which could benefit stations engaging in asset management as a means of FC life extension. This paper presents a summary of the worked performed to correlate the observed reductions in PT creep sag rate to the geometrical properties of the PT creep sag profile and the predicted bending stress reductions in the CT. (author)

Indirect learning control for nonlinear dynamical systems

Science.gov (United States)

Ryu, Yeong Soon; Longman, Richard W.

1993-01-01

In a previous paper, learning control algorithms were developed based on adaptive control ideas for linear time variant systems. The learning control methods were shown to have certain advantages over their adaptive control counterparts, such as the ability to produce zero tracking error in time varying systems, and the ability to eliminate repetitive disturbances. In recent years, certain adaptive control algorithms have been developed for multi-body dynamic systems such as robots, with global guaranteed convergence to zero tracking error for the nonlinear system euations. In this paper we study the relationship between such adaptive control methods designed for this specific class of nonlinear systems, and the learning control problem for such systems, seeking to converge to zero tracking error in following a specific command repeatedly, starting from the same initial conditions each time. The extension of these methods from the adaptive control problem to the learning control problem is seen to be trivial. The advantages and disadvantages of using learning control based on such adaptive control concepts for nonlinear systems, and the use of other currently available learning control algorithms are discussed.

Robust Fault Estimation Design for Discrete-Time Nonlinear Systems via A Modified Fuzzy Fault Estimation Observer.

Science.gov (United States)

Xie, Xiang-Peng; Yue, Dong; Park, Ju H

2018-02-01

The paper provides relaxed designs of fault estimation observer for nonlinear dynamical plants in the Takagi-Sugeno form. Compared with previous theoretical achievements, a modified version of fuzzy fault estimation observer is implemented with the aid of the so-called maximum-priority-based switching law. Given each activated switching status, the appropriate group of designed matrices can be provided so as to explore certain key properties of the considered plants by means of introducing a set of matrix-valued variables. Owing to the reason that more abundant information of the considered plants can be updated in due course and effectively exploited for each time instant, the conservatism of the obtained result is less than previous theoretical achievements and thus the main defect of those existing methods can be overcome to some extent in practice. Finally, comparative simulation studies on the classical nonlinear truck-trailer model are given to certify the benefits of the theoretic achievement which is obtained in our study. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Multivariable robust adaptive sliding mode control of an industrial boiler-turbine in the presence of modeling imprecisions and external disturbances: A comparison with type-I servo controller.

Science.gov (United States)

Ghabraei, Soheil; Moradi, Hamed; Vossoughi, Gholamreza

2015-09-01

To guarantee the safety and efficient performance of the power plant, a robust controller for the boiler-turbine unit is needed. In this paper, a robust adaptive sliding mode controller (RASMC) is proposed to control a nonlinear multi-input multi-output (MIMO) model of industrial boiler-turbine unit, in the presence of unknown bounded uncertainties and external disturbances. To overcome the coupled nonlinearities and investigate the zero dynamics, input-output linearization is performed, and then the new decoupled inputs are derived. To tackle the uncertainties and external disturbances, appropriate adaption laws are introduced. For constructing the RASMC, suitable sliding surface is considered. To guarantee the sliding motion occurrence, appropriate control laws are constructed. Then the robustness and stability of the proposed RASMC is proved via Lyapunov stability theory. To compare the performance of the purposed RASMC with traditional control schemes, a type-I servo controller is designed. To evaluate the performance of the proposed control schemes, simulation studies on nonlinear MIMO dynamic system in the presence of high frequency bounded uncertainties and external disturbances are conducted and compared. Comparison of the results reveals the superiority of proposed RASMC over the traditional control schemes. RAMSC acts efficiently in disturbance rejection and keeping the system behavior in desirable tracking objectives, without the existence of unstable quasi-periodic solutions. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Factors of Nonlinear-ultrasonic Detection and Its Application to HR3C Fireside Corrosion

Directory of Open Access Journals (Sweden)

QIN Peng

2016-11-01

Full Text Available Based on the discussion of the factors influencing the nonlinear ultrasonic testing, the feasibility of nondestructive evaluation of HR3C fireside corrosion was investigated using nonlinear ultrasonic testing. The results show that the number of pulse string is no more than 2df/c and the installation of Hanning window is helpful to reduce the disturbance of the system, in addition, the rough surface of the sample has a significant impact on the nonlinear parameter β. The nonlinear coefficient demonstrates a phased growth trend as corrosion time prolongs. At the initial stage of corrosion(within 50h,there are small increments within 20% in the nonlinear coefficient, however,the nonlinear coefficient β is increased obviously with the duration time to 150h. Compared with un-corroded sample, the amplification in the sample corroded for 200h reaches to 260%. The monotonous varieties in nonlinear coefficient are consistent with the aggravation of corrosion damage,hence,it is feasible to nondestructively evaluate HR3C fireside corrosion by means of ultrasonic nonlinear testing.

Disturbance estimation of nuclear power plant by using reduced-order model

International Nuclear Information System (INIS)

Tashima, Shin-ichi; Wakabayashi, Jiro

1983-01-01

An estimation method is proposed of multiplex disturbances which occur in a nuclear power plant. The method is composed of two parts: (i) the identification of a simplified model of multi-input and multi-output to describe the related system response, and (ii) the design of a Kalman filter to estimate the multiplex disturbance. Concerning the simplified model, several observed signals are firstly selected as output variables which can well represent the system response caused by the disturbances. A reduced-order model is utilized for designing the disturbance estimator. This is based on the following two considerations. The first is that the disturbance is assumed to be of a quasistatic nature. The other is based on the intuition that there exist a few dominant modes between the disturbances and the selected observed signals and that most of the non-dominant modes which remain may not affect the accuracy of the disturbance estimator. The reduced-order model is furtherly transformed to a single-output model using a linear combination of the output signals, where the standard procedure of the structural identification is evaded. The parameters of the model thus transformed are calculated by the generalized least square method. As for the multiplex disturbance estimator, the Kalman filtering method is applied by compromising the following three items : (a) quick response to disturbance, (b) reduction of estimation error in the presence of observation noises, and (c) the elimination of cross-interference between the disturbances to the plant and the estimates from the Kalman filter. The effectiveness of the proposed method is verified through some computer experiments using a BWR plant simulator. (author)

Observer-Based Stabilization of Spacecraft Rendezvous with Variable Sampling and Sensor Nonlinearity

Directory of Open Access Journals (Sweden)

Zhuoshi Li

2013-01-01

Full Text Available This paper addresses the observer-based control problem of spacecraft rendezvous with nonuniform sampling period. The relative dynamic model is based on the classical Clohessy-Wiltshire equation, and sensor nonlinearity and sampling are considered together in a unified framework. The purpose of this paper is to perform an observer-based controller synthesis by using sampled and saturated output measurements, such that the resulting closed-loop system is exponentially stable. A time-dependent Lyapunov functional is developed which depends on time and the upper bound of the sampling period and also does not grow along the input update times. The controller design problem is solved in terms of the linear matrix inequality method, and the obtained results are less conservative than using the traditional Lyapunov functionals. Finally, a numerical simulation example is built to show the validity of the developed sampled-data control strategy.

Distributed Adaptive Fuzzy Control for Nonlinear Multiagent Systems Via Sliding Mode Observers.

Science.gov (United States)

Shen, Qikun; Shi, Peng; Shi, Yan

2016-12-01

In this paper, the problem of distributed adaptive fuzzy control is investigated for high-order uncertain nonlinear multiagent systems on directed graph with a fixed topology. It is assumed that only the outputs of each follower and its neighbors are available in the design of its distributed controllers. Equivalent output injection sliding mode observers are proposed for each follower to estimate the states of itself and its neighbors, and an observer-based distributed adaptive controller is designed for each follower to guarantee that it asymptotically synchronizes to a leader with tracking errors being semi-globally uniform ultimate bounded, in which fuzzy logic systems are utilized to approximate unknown functions. Based on algebraic graph theory and Lyapunov function approach, using Filippov-framework, the closed-loop system stability analysis is conducted. Finally, numerical simulations are provided to illustrate the effectiveness and potential of the developed design techniques.

Small disturbance voltage stability assessment of power systems by modal analysis and dynamic simulation

International Nuclear Information System (INIS)

Amjady, Nima; Ansari, Mohammad Reza

2008-01-01

The introduction of liberalized electricity markets in many countries has resulted in more highly stressed power systems. On the other hand, operating points of a power system are acceptable in the feasible region, which is surrounded by the borders of different stabilities. Power system instability is critical for all participants of the electricity market. Determination of different stability margins can result in the optimum utilization of power system with minimum risk. This paper focuses on the small disturbance voltage stability, which is an important subset of the power system global stability. This kind of voltage stability is usually evaluated by static analysis tools such as continuation power flow, while it essentially has dynamic nature. Besides, a combination of linear and nonlinear analysis tools is required to correctly analyze it. In this paper, a hybrid evaluation method composed of static, dynamic, linear, and nonlinear analysis tools is proposed for this purpose. Effect of load scenario, generation pattern, branch and generator contingency on the small disturbance voltage stability are evaluated by the hybrid method. The test results are given for New England and IEEE68 bus test systems. (author)

Influence of disturbance on temperate forest productivity

Science.gov (United States)

Peters, Emily B.; Wythers, Kirk R.; Bradford, John B.; Reich, Peter B.

2013-01-01

Climate, tree species traits, and soil fertility are key controls on forest productivity. However, in most forest ecosystems, natural and human disturbances, such as wind throw, fire, and harvest, can also exert important and lasting direct and indirect influence over productivity. We used an ecosystem model, PnET-CN, to examine how disturbance type, intensity, and frequency influence net primary production (NPP) across a range of forest types from Minnesota and Wisconsin, USA. We assessed the importance of past disturbances on NPP, net N mineralization, foliar N, and leaf area index at 107 forest stands of differing types (aspen, jack pine, northern hardwood, black spruce) and disturbance history (fire, harvest) by comparing model simulations with observations. The model reasonably predicted differences among forest types in productivity, foliar N, leaf area index, and net N mineralization. Model simulations that included past disturbances minimally improved predictions compared to simulations without disturbance, suggesting the legacy of past disturbances played a minor role in influencing current forest productivity rates. Modeled NPP was more sensitive to the intensity of soil removal during a disturbance than the fraction of stand mortality or wood removal. Increasing crown fire frequency resulted in lower NPP, particularly for conifer forest types with longer leaf life spans and longer recovery times. These findings suggest that, over long time periods, moderate frequency disturbances are a relatively less important control on productivity than climate, soil, and species traits.

Climate change amplifies the interactions between wind and bark beetle disturbances in forest landscapes.

Science.gov (United States)

Seidl, Rupert; Rammer, Werner

2017-07-01

Growing evidence suggests that climate change could substantially alter forest disturbances. Interactions between individual disturbance agents are a major component of disturbance regimes, yet how interactions contribute to their climate sensitivity remains largely unknown. Here, our aim was to assess the climate sensitivity of disturbance interactions, focusing on wind and bark beetle disturbances. We developed a process-based model of bark beetle disturbance, integrated into the dynamic forest landscape model iLand (already including a detailed model of wind disturbance). We evaluated the integrated model against observations from three wind events and a subsequent bark beetle outbreak, affecting 530.2 ha (3.8 %) of a mountain forest landscape in Austria between 2007 and 2014. Subsequently, we conducted a factorial experiment determining the effect of changes in climate variables on the area disturbed by wind and bark beetles separately and in combination. iLand was well able to reproduce observations with regard to area, temporal sequence, and spatial pattern of disturbance. The observed disturbance dynamics was strongly driven by interactions, with 64.3 % of the area disturbed attributed to interaction effects. A +4 °C warming increased the disturbed area by +264.7 % and the area-weighted mean patch size by +1794.3 %. Interactions were found to have a ten times higher sensitivity to temperature changes than main effects, considerably amplifying the climate sensitivity of the disturbance regime. Disturbance interactions are a key component of the forest disturbance regime. Neglecting interaction effects can lead to a substantial underestimation of the climate change sensitivity of disturbance regimes.

Extension of a nonlinear systems theory to general-frequency unsteady transonic aerodynamic responses

Science.gov (United States)

Silva, Walter A.

1993-01-01

A methodology for modeling nonlinear unsteady aerodynamic responses, for subsequent use in aeroservoelastic analysis and design, using the Volterra-Wiener theory of nonlinear systems is presented. The methodology is extended to predict nonlinear unsteady aerodynamic responses of arbitrary frequency. The Volterra-Wiener theory uses multidimensional convolution integrals to predict the response of nonlinear systems to arbitrary inputs. The CAP-TSD (Computational Aeroelasticity Program - Transonic Small Disturbance) code is used to generate linear and nonlinear unit impulse responses that correspond to each of the integrals for a rectangular wing with a NACA 0012 section with pitch and plunge degrees of freedom. The computed kernels then are used to predict linear and nonlinear unsteady aerodynamic responses via convolution and compared to responses obtained using the CAP-TSD code directly. The results indicate that the approach can be used to predict linear unsteady aerodynamic responses exactly for any input amplitude or frequency at a significant cost savings. Convolution of the nonlinear terms results in nonlinear unsteady aerodynamic responses that compare reasonably well with those computed using the CAP-TSD code directly but at significant computational cost savings.

Observations from Millstone Hill during the geomagnetic disturbances of March and April 1990

International Nuclear Information System (INIS)

Buonsanto, M.J.; Foster, J.C.; Sipler, D.P.

1992-01-01

The incoherent scatter radars at Millstone Hill operated continuously during the periods March 16-23 and April 6-12, 1990, providing observations of large-scale ionospheric structure and dynamics over a large portion of eastern North America. Major geomagnetic storms occurred during each of these periods, with deep nighttime ionospheric troughs and large magnetospheric convection electric fields observed equatorward of Millstone. The Millstone observations provide a comprehensive data set detailing storm-induced ionospheric effects over a 35 degree span of latitude during both of these intervals. At the latitude of Millstone the ionospheric peak height hmF2 rose above 600 km the into trough on March 22 and 23 and reached ∼500 km at night on April 11 and 12. Increased recombination, apparently due to the strong electric fields, te temperature dependent recombination rate coefficient, and neutral composition changes, greatly depleted the F2 region over a wide latitude range during the day on April 10, 1990. This resulted in an ionosphere dominated by molecular ions, with ionospheric peak heights below 200 km on this day. A number of frictional heating events during the disturbed periods are seen from comparison of ion temperature and velocity measurements. The most intense event took place near 1200 UT on April 10, 1990, when Kp reached 8. At 0100 UT on March 21, line of sight ion velocities in excess of 500 ms -1 were observed at the extreme southern limit of the Millstone steerable radar's field of view (40 degree apex magnetic latitude at an altitude of 700 km). These could be due to penetration of magnetospheric electric fields or electric fields associated with ring current shielding in the storm-time outer plasmasphere. About an hour later, ion outflow was observed just equatorward of Millstone

Modeling dynamic behavior of superconducting maglev systems under external disturbances

Science.gov (United States)

Huang, Chen-Guang; Xue, Cun; Yong, Hua-Dong; Zhou, You-He

2017-08-01

For a maglev system, vertical and lateral displacements of the levitation body may simultaneously occur under external disturbances, which often results in changes in the levitation and guidance forces and even causes some serious malfunctions. To fully understand the effect of external disturbances on the levitation performance, in this work, we build a two-dimensional numerical model on the basis of Newton's second law of motion and a mathematical formulation derived from magnetoquasistatic Maxwell's equations together with a nonlinear constitutive relation between the electric field and the current density. By using this model, we present an analysis of dynamic behavior for two typical maglev systems consisting of an infinitely long superconductor and a guideway of different arrangements of infinitely long parallel permanent magnets. The results show that during the vertical movement, the levitation force is closely associated with the flux motion and the moving velocity of the superconductor. After being disturbed at the working position, the superconductor has a disturbance-induced initial velocity and then starts to periodically vibrate in both lateral and vertical directions. Meanwhile, the lateral and vertical vibration centers gradually drift along their vibration directions. The larger the initial velocity, the faster their vibration centers drift. However, the vertical drift of the vertical vibration center seems to be independent of the direction of the initial velocity. In addition, due to the lateral and vertical drifts, the equilibrium position of the superconductor in the maglev systems is not a space point but a continuous range.

Augmented nonlinear differentiator design and application to nonlinear uncertain systems.

Science.gov (United States)

Shao, Xingling; Liu, Jun; Li, Jie; Cao, Huiliang; Shen, Chong; Zhang, Xiaoming

2017-03-01

In this paper, an augmented nonlinear differentiator (AND) based on sigmoid function is developed to calculate the noise-less time derivative under noisy measurement condition. The essential philosophy of proposed AND in achieving high attenuation of noise effect is established by expanding the signal dynamics with extra state variable representing the integrated noisy measurement, then with the integral of measurement as input, the augmented differentiator is formulated to improve the estimation quality. The prominent advantages of the present differentiation technique are: (i) better noise suppression ability can be achieved without appreciable delay; (ii) the improved methodology can be readily extended to construct augmented high-order differentiator to obtain multiple derivatives. In addition, the convergence property and robustness performance against noises are investigated via singular perturbation theory and describing function method, respectively. Also, comparison with several classical differentiators is given to illustrate the superiority of AND in noise suppression. Finally, the robust control problems of nonlinear uncertain systems, including a numerical example and a mass spring system, are addressed to demonstrate the effectiveness of AND in precisely estimating the disturbance and providing the unavailable differential estimate to implement output feedback based controller. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Biweekly disturbance capture and attribution: case study in western Alberta grizzly bear habitat

Science.gov (United States)

Hilker, Thomas; Coops, Nicholas C.; Gaulton, Rachel; Wulder, Michael A.; Cranston, Jerome; Stenhouse, Gordon

2011-01-01

An increasing number of studies have demonstrated the impact of landscape disturbance on ecosystems. Satellite remote sensing can be used for mapping disturbances, and fusion techniques of sensors with complimentary characteristics can help to improve the spatial and temporal resolution of satellite-based mapping techniques. Classification of different disturbance types from satellite observations is difficult, yet important, especially in an ecological context as different disturbance types might have different impacts on vegetation recovery, wildlife habitats, and food resources. We demonstrate a possible approach for classifying common disturbance types by means of their spatial characteristics. First, landscape level change is characterized on a near biweekly basis through application of a data fusion model (spatial temporal adaptive algorithm for mapping reflectance change) and a number of spatial and temporal characteristics of the predicted disturbance patches are inferred. A regression tree approach is then used to classify disturbance events. Our results show that spatial and temporal disturbance characteristics can be used to classify disturbance events with an overall accuracy of 86% of the disturbed area observed. The date of disturbance was identified as the most powerful predictor of the disturbance type, together with the patch core area, patch size, and contiguity.

Nonlinear dynamics of an electrically actuated mems device: Experimental and theoretical investigation

KAUST Repository

Ruzziconi, Laura

2013-11-15

This study deals with an experimental and theoretical investigation of an electrically actuated micro-electromechanical system (MEMS). The experimental nonlinear dynamics are explored via frequency sweeps in a neighborhood of the first symmetric natural frequency, at increasing values of electrodynamic excitation. Both the non-resonant branch, the resonant one, the jump between them, and the presence of a range of inevitable escape (dynamic pull-in) are observed. To simulate the experimental behavior, a single degree-offreedom spring mass model is derived, which is based on the information coming from the experimentation. Despite the apparent simplicity, the model is able to catch all the most relevant aspects of the device response. This occurs not only at low values of electrodynamic excitation, but also at higher ones. Nevertheless, the theoretical predictions are not completely fulfilled in some aspects. In particular, the range of existence of each attractor is smaller in practice than in the simulations. This is because, under realistic conditions, disturbances are inevitably encountered (e.g. discontinuous steps when performing the sweeping, approximations in the modeling, etc.) and give uncertainties to the operating initial conditions. A reliable prediction of the actual (and not only theoretical) response is essential in applications. To take disturbances into account, we develop a dynamical integrity analysis. Integrity profiles and integrity charts are performed. They are able to detect the parameter range where each branch can be reliably observed in practice and where, instead, becomes vulnerable. Moreover, depending on the magnitude of the expected disturbances, the integrity charts can serve as a design guideline, in order to effectively operate the device in safe condition, according to the desired outcome. Copyright © 2013 by ASME.

Nonlinear dynamics of an electrically actuated mems device: Experimental and theoretical investigation

KAUST Repository

Ruzziconi, Laura; Ramini, Abdallah H.; Younis, Mohammad I.; Lenci, Stefano

2013-01-01

This study deals with an experimental and theoretical investigation of an electrically actuated micro-electromechanical system (MEMS). The experimental nonlinear dynamics are explored via frequency sweeps in a neighborhood of the first symmetric natural frequency, at increasing values of electrodynamic excitation. Both the non-resonant branch, the resonant one, the jump between them, and the presence of a range of inevitable escape (dynamic pull-in) are observed. To simulate the experimental behavior, a single degree-offreedom spring mass model is derived, which is based on the information coming from the experimentation. Despite the apparent simplicity, the model is able to catch all the most relevant aspects of the device response. This occurs not only at low values of electrodynamic excitation, but also at higher ones. Nevertheless, the theoretical predictions are not completely fulfilled in some aspects. In particular, the range of existence of each attractor is smaller in practice than in the simulations. This is because, under realistic conditions, disturbances are inevitably encountered (e.g. discontinuous steps when performing the sweeping, approximations in the modeling, etc.) and give uncertainties to the operating initial conditions. A reliable prediction of the actual (and not only theoretical) response is essential in applications. To take disturbances into account, we develop a dynamical integrity analysis. Integrity profiles and integrity charts are performed. They are able to detect the parameter range where each branch can be reliably observed in practice and where, instead, becomes vulnerable. Moreover, depending on the magnitude of the expected disturbances, the integrity charts can serve as a design guideline, in order to effectively operate the device in safe condition, according to the desired outcome. Copyright © 2013 by ASME.

PID Based on Attractive Ellipsoid Method for Dynamic Uncertain and External Disturbances Rejection in Mechanical Systems

Directory of Open Access Journals (Sweden)

Jesus Patricio Ordaz Oliver

2015-01-01

Full Text Available This paper presents a stability analysis for LNDS (Lagrangian nonlinear dynamical systems with dynamic uncertain using a PID controller with external disturbances rejection based on attractive ellipsoid methods, since the PID-CT (proportional integral derivative computed torque compensator has been used for the nonlinear trajectory tracking of an LNDS, when there are external perturbations and system uncertainties. The global system convergence of the trivial solution has not been proved. In this sense, we propose an approach to find the gains of the nonlinear PID-CT controller to guarantee the boundedness of the trivial solution by means of the concept of the UUB (uniform-ultimately bounded stability. In order to show the effectiveness of the methodology proposed, we applied it in a real 2-DoF robot system.

Nonlinear dynamical modeling and prediction of the terrestrial magnetospheric activity

International Nuclear Information System (INIS)

Vassiliadis, D.

1992-01-01

The irregular activity of the magnetosphere results from its complex internal dynamics as well as the external influence of the solar wind. The dominating self-organization of the magnetospheric plasma gives rise to repetitive, large-scale coherent behavior manifested in phenomena such as the magnetic substorm. Based on the nonlinearity of the global dynamics this dissertation examines the magnetosphere as a nonlinear dynamical system using time series analysis techniques. Initially the magnetospheric activity is modeled in terms of an autonomous system. A dimension study shows that its observed time series is self-similar, but the correlation dimension is high. The implication of a large number of degrees of freedom is confirmed by other state space techniques such as Poincare sections and search for unstable periodic orbits. At the same time a stability study of the time series in terms of Lyapunov exponents suggests that the series is not chaotic. The absence of deterministic chaos is supported by the low predictive capability of the autonomous model. Rather than chaos, it is an external input which is largely responsible for the irregularity of the magnetospheric activity. In fact, the external driving is so strong that the above state space techniques give results for magnetospheric and solar wind time series that are at least qualitatively similar. Therefore the solar wind input has to be included in a low-dimensional nonautonomous model. Indeed it is shown that such a model can reproduce the observed magnetospheric behavior up to 80-90 percent. The characteristic coefficients of the model show little variation depending on the external disturbance. The impulse response is consistent with earlier results of linear prediction filters. The model can be easily extended to contain nonlinear features of the magnetospheric activity and in particular the loading-unloading behavior of substorms

Latitudinal profile of the ionospheric disturbance dynamo magnetic signature: comparison with the DP2 magnetic disturbance

Directory of Open Access Journals (Sweden)

K. Z. Zaka

2009-09-01

Full Text Available During magnetic storms, the auroral electrojets intensification affects the thermospheric circulation on a global scale. This process which leads to electric field and current disturbance at middle and low latitudes, on the quiet day after the end of a storm, has been attributed to the ionospheric disturbance dynamo (Ddyn. The magnetic field disturbance observed as a result of this process is the reduction of the H component amplitude in the equatorial region which constitutes the main characteristic of the ionospheric disturbance dynamo process, associated with a westward electric current flow. The latitudinal profile of the Ddyn disturbance dynamo magnetic signature exhibits an eastward current at mid latitudes and a westward one at low latitudes with a substantial amplification at the magnetic equator. Such current flow reveals an "anti-Sq" system established between the mid latitudes and the equatorial region and opposes the normal Sq current vortex. However, the localization of the eastward current and consequently the position and the extent of the "anti-Sq" current vortex changes from one storm to another. Indeed, for a strong magnetic storm, the eastward current is well established at mid latitudes about 45° N and for a weak magnetic storm, the eastward current is established toward the high latitudes (about 60° N, near the Joule heating region, resulting in a large "anti-Sq" current cell. The latitudinal profile of the Ddyn disturbance as well as the magnetic disturbance DP2 generated by the mechanism of prompt penetration of the magnetospheric convection electric field in general, show a weak disturbance at the low latitudes with a substantial amplification at the magnetic equator. Due to the intensity of the storm, the magnitude of the DP2 appears higher than the Ddyn over the American and Asian sector contrary to the African sector.

Nonlinear observer based fault detection and isolation for a momentum wheel

DEFF Research Database (Denmark)

Jensen, Hans-Christian Becker; Wisniewski, Rafal

2001-01-01

This article realizes nonlinear Fault Detection and Isolation for a momentum wheel. The Fault Detection and Isolation is based on a Failure Mode and Effect Analysis, which states which faults might occur and can be detected. The algorithms presented in this paper are based on a geometric approach...... toachieve nonlinear Fault Detection and Isolation. The proposed algorithms are tested in a simulation study and the pros and cons of the algorithm are discussed....

Design of Second-Order Sliding Mode Guidance Law Based on the Nonhomogeneous Disturbance Observer

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Huibo Zhou

2014-01-01

Full Text Available Considering the guidance problem of relative motion of missile target without the dynamic characteristics of missile autopilot in the interception planar, non-homogeneous disturbance observer is applied for finite-time estimation with respect to the target maneuvering affecting the guidance performance. Two guidance laws with finite-time convergence are designed by using a fast power rate reaching law and the prescribed sliding variable dynamics. The nonsingular terminal sliding mode surface is selected to improve dynamic characteristics of missile autopilot. Furthermore, the finite-time guidance law with dynamic delay characteristics is designed for the target maneuvering through adopting variable structure dynamic compensation. The simulation results demonstrate that, for different target maneuvering, the proposed guidance laws can restrain the sliding mode chattering problem effectively and make the missile hit the maneuvering target quickly and accurately with condition of corresponding assumptions.

A Novel Method of Robust Trajectory Linearization Control Based on Disturbance Rejection

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Xingling Shao

2014-01-01

Full Text Available A novel method of robust trajectory linearization control for a class of nonlinear systems with uncertainties based on disturbance rejection is proposed. Firstly, on the basis of trajectory linearization control (TLC method, a feedback linearization based control law is designed to transform the original tracking error dynamics to the canonical integral-chain form. To address the issue of reducing the influence made by uncertainties, with tracking error as input, linear extended state observer (LESO is constructed to estimate the tracking error vector, as well as the uncertainties in an integrated manner. Meanwhile, the boundedness of the estimated error is investigated by theoretical analysis. In addition, decoupled controller (which has the characteristic of well-tuning and simple form based on LESO is synthesized to realize the output tracking for closed-loop system. The closed-loop stability of the system under the proposed LESO-based control structure is established. Also, simulation results are presented to illustrate the effectiveness of the control strategy.

Nonlinear stability, bifurcation and resonance in granular plane Couette flow

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Shukla, Priyanka; Alam, Meheboob

2010-11-01

A weakly nonlinear stability theory is developed to understand the effect of nonlinearities on various linear instability modes as well as to unveil the underlying bifurcation scenario in a two-dimensional granular plane Couette flow. The relevant order parameter equation, the Landau-Stuart equation, for the most unstable two-dimensional disturbance has been derived using the amplitude expansion method of our previous work on the shear-banding instability.ootnotetextShukla and Alam, Phys. Rev. Lett. 103, 068001 (2009). Shukla and Alam, J. Fluid Mech. (2010, accepted). Two types of bifurcations, Hopf and pitchfork, that result from travelling and stationary linear instabilities, respectively, are analysed using the first Landau coefficient. It is shown that the subcritical instability can appear in the linearly stable regime. The present bifurcation theory shows that the flow is subcritically unstable to disturbances of long wave-lengths (kx˜0) in the dilute limit, and both the supercritical and subcritical states are possible at moderate densities for the dominant stationary and traveling instabilities for which kx=O(1). We show that the granular plane Couette flow is prone to a plethora of resonances.ootnotetextShukla and Alam, J. Fluid Mech. (submitted, 2010)

Application of H∞ control theory to power control of a nonlinear reactor model

International Nuclear Information System (INIS)

Suzuki, Katsuo; Shimazaki, Junya; Shinohara, Yoshikuni

1993-01-01

The H∞ control theory is applied to the compensator design of a nonlinear nuclear reactor model, and the results are compared with standard linear quadratic Gaussian (LQG) control. The reactor model is assumed to be provided with a control rod drive system having the compensation of rod position feedback. The nonlinearity of the reactor model exerts a great influence on the stability of the control system, and hence, it is desirable for a power control system of a nuclear reactor to achieve robust stability and to improve the sensitivity of the feedback control system. A computer simulation based on a power control system synthesized by LQG control was performed revealing that the control system has some stationary offset and less stability. Therefore, here, attention is given to the development of a methodology for robust control that can withstand exogenous disturbances and nonlinearity in view of system parameter changes. The developed methodology adopts H∞ control theory in the feedback system and shows interesting features of robustness. The results of the computer simulation indicate that the feedback control system constructed by the developed H∞ compensator possesses sufficient robustness of control on the stability and disturbance attenuation, which are essential for the safe operation of a nuclear reactor

Transience after disturbance: Obligate species recovery dynamics depend on disturbance duration.

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Singer, Alexander; Johst, Karin

2017-06-01

After a disturbance event, population recovery becomes an important species response that drives ecosystem dynamics. Yet, it is unclear how interspecific interactions impact species recovery from a disturbance and which role the disturbance duration (pulse or press) plays. Here, we analytically derive conditions that govern the transient recovery dynamics from disturbance of a host and its obligately dependent partner in a two-species metapopulation model. We find that, after disturbance, species recovery dynamics depend on the species' role (i.e. host or obligately dependent species) as well as the duration of disturbance. Host recovery starts immediately after the disturbance. In contrast, for obligate species, recovery depends on disturbance duration. After press disturbance, which allows dynamics to equilibrate during disturbance, obligate species immediately start to recover. Yet, after pulse disturbance, obligate species continue declining although their hosts have already begun to increase. Effectively, obligate species recovery is delayed until a necessary host threshold occupancy is reached. Obligates' delayed recovery arises solely from interspecific interactions independent of dispersal limitations, which contests previous explanations. Delayed recovery exerts a two-fold negative effect, because populations continue declining to even smaller population sizes and the phase of increased risk from demographic stochastic extinction in small populations is prolonged. We argue that delayed recovery and its determinants -species interactions and disturbance duration - have to be considered in biodiversity management. Copyright © 2017 Elsevier Inc. All rights reserved.

Iterative Adaptive Dynamic Programming for Solving Unknown Nonlinear Zero-Sum Game Based on Online Data.

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Zhu, Yuanheng; Zhao, Dongbin; Li, Xiangjun

2017-03-01

H ∞ control is a powerful method to solve the disturbance attenuation problems that occur in some control systems. The design of such controllers relies on solving the zero-sum game (ZSG). But in practical applications, the exact dynamics is mostly unknown. Identification of dynamics also produces errors that are detrimental to the control performance. To overcome this problem, an iterative adaptive dynamic programming algorithm is proposed in this paper to solve the continuous-time, unknown nonlinear ZSG with only online data. A model-free approach to the Hamilton-Jacobi-Isaacs equation is developed based on the policy iteration method. Control and disturbance policies and value are approximated by neural networks (NNs) under the critic-actor-disturber structure. The NN weights are solved by the least-squares method. According to the theoretical analysis, our algorithm is equivalent to a Gauss-Newton method solving an optimization problem, and it converges uniformly to the optimal solution. The online data can also be used repeatedly, which is highly efficient. Simulation results demonstrate its feasibility to solve the unknown nonlinear ZSG. When compared with other algorithms, it saves a significant amount of online measurement time.

Neural-Based Compensation of Nonlinearities in an Airplane Longitudinal Model with Dynamic-Inversion Control

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YanBin Liu

2017-01-01

Full Text Available The inversion design approach is a very useful tool for the complex multiple-input-multiple-output nonlinear systems to implement the decoupling control goal, such as the airplane model and spacecraft model. In this work, the flight control law is proposed using the neural-based inversion design method associated with the nonlinear compensation for a general longitudinal model of the airplane. First, the nonlinear mathematic model is converted to the equivalent linear model based on the feedback linearization theory. Then, the flight control law integrated with this inversion model is developed to stabilize the nonlinear system and relieve the coupling effect. Afterwards, the inversion control combined with the neural network and nonlinear portion is presented to improve the transient performance and attenuate the uncertain effects on both external disturbances and model errors. Finally, the simulation results demonstrate the effectiveness of this controller.

The Storm Time Evolution of the Ionospheric Disturbance Plasma Drifts

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Zhang, Ruilong; Liu, Libo; Le, Huijun; Chen, Yiding; Kuai, Jiawei

2017-11-01

In this paper, we use the C/NOFS and ROCSAT-1 satellites observations to analyze the storm time evolution of the disturbance plasma drifts in a 24 h local time scale during three magnetic storms driven by long-lasting southward IMF Bz. The disturbance plasma drifts during the three storms present some common features in the periods dominated by the disturbance dynamo. The newly formed disturbance plasma drifts are upward and westward at night, and downward and eastward during daytime. Further, the disturbance plasma drifts are gradually evolved to present significant local time shifts. The westward disturbance plasma drifts gradually migrate from nightside to dayside. Meanwhile, the dayside downward disturbance plasma drifts become enhanced and shift to later local time. The local time shifts in disturbance plasma drifts are suggested to be mainly attributed to the evolution of the disturbance winds. The strong disturbance winds arisen around midnight can constantly corotate to later local time. At dayside the westward and equatorward disturbance winds can drive the F region dynamo to produce the poleward and westward polarization electric fields (or the westward and downward disturbance drifts). The present results indicate that the disturbance winds corotated to later local time can affect the local time features of the disturbance dynamo electric field.

Nonlinear interaction between a pair of oblique modes in a supersonic mixing layer: Long-wave limit

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Balsa, Thomas F.; Gartside, James

1995-01-01

The nonlinear interaction between a pair of symmetric, oblique, and spatial instability modes is studied in the long-wave limit using asymptotic methods. The base flow is taken to be a supersonic mixing layer whose Mach number is such that the corresponding vortex sheet is marginally stable according to Miles' criterion. It is shown that the amplitude of the mode obeys a nonlinear integro-differential equation. Numerical solutions of this equation show that, when the obliqueness angle is less than pi/4, the effect of the nonlinearity is to enhance the growth rate of the instability. The solution terminates in a singularity at a finite streamwise location. This result is reminiscent of that obtained in the vicinity of the neutral point by other authors in several different types of flows. On the other hand, when the obliqueness angle is more than pi/4, the streamwise development of the amplitude is characterized by a series of modulations. This arises from the fact that the nonlinear term in the amplitude equation may be either stabilizing or destabilizing, depending on the value of the streamwise coordinate. However, even in this case the amplitude of the disturbance increases, though not as rapidly as in the case for which the angle is less than pi/4. Quite generally then, the nonlinear interaction between two oblique modes in a supersonic mixing layer enhances the growth of the disturbance.

A Model Predictive Algorithm for Active Control of Nonlinear Noise Processes

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Qi-Zhi Zhang

2005-01-01

Full Text Available In this paper, an improved nonlinear Active Noise Control (ANC system is achieved by introducing an appropriate secondary source. For ANC system to be successfully implemented, the nonlinearity of the primary path and time delay of the secondary path must be overcome. A nonlinear Model Predictive Control (MPC strategy is introduced to deal with the time delay in the secondary path and the nonlinearity in the primary path of the ANC system. An overall online modeling technique is utilized for online secondary path and primary path estimation. The secondary path is estimated using an adaptive FIR filter, and the primary path is estimated using a Neural Network (NN. The two models are connected in parallel with the two paths. In this system, the mutual disturbances between the operation of the nonlinear ANC controller and modeling of the secondary can be greatly reduced. The coefficients of the adaptive FIR filter and weight vector of NN are adjusted online. Computer simulations are carried out to compare the proposed nonlinear MPC method with the nonlinear Filter-x Least Mean Square (FXLMS algorithm. The results showed that the convergence speed of the proposed nonlinear MPC algorithm is faster than that of nonlinear FXLMS algorithm. For testing the robust performance of the proposed nonlinear ANC system, the sudden changes in the secondary path and primary path of the ANC system are considered. Results indicated that the proposed nonlinear ANC system can rapidly track the sudden changes in the acoustic paths of the nonlinear ANC system, and ensure the adaptive algorithm stable when the nonlinear ANC system is time variable.

Robust fuzzy output feedback controller for affine nonlinear systems via T-S fuzzy bilinear model: CSTR benchmark.

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Hamdy, M; Hamdan, I

2015-07-01

In this paper, a robust H∞ fuzzy output feedback controller is designed for a class of affine nonlinear systems with disturbance via Takagi-Sugeno (T-S) fuzzy bilinear model. The parallel distributed compensation (PDC) technique is utilized to design a fuzzy controller. The stability conditions of the overall closed loop T-S fuzzy bilinear model are formulated in terms of Lyapunov function via linear matrix inequality (LMI). The control law is robustified by H∞ sense to attenuate external disturbance. Moreover, the desired controller gains can be obtained by solving a set of LMI. A continuous stirred tank reactor (CSTR), which is a benchmark problem in nonlinear process control, is discussed in detail to verify the effectiveness of the proposed approach with a comparative study. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Characterizing sleeping habits and disturbances among Saudi adults.

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Al-Tannir, Mohamad; Kobrosly, Samer Y; Al-Badr, Ahmad H; Salloum, Nourhan A; Altannir, Youssef M

2016-12-01

To characterize sleeping habits, assess sleep disturbance prevalence, and identify associated factors among Saudi adults.  Methods: A total of 1720 adults were approached for this observational cross-sectional study between October 2014 and March 2015. The study took place in Riyadh, the capital of Saudi Arabia. We used a questionnaire to describe sleeping characteristics in relation to existing chronic diseases, smoking status, obesity, daily performance and sociodemographic variables. Results: The response rate was 79.6% (1369 participants), 61.6% have or may have sleeping disturbances of which 18.6% claimed either slowed or stopped breathing during sleep. Women reported a higher prevalence of sleep disturbances (65.2%). Feeling tired was significantly associated with sleep disturbance (49% versus 19.7%) (p greater than 0.001). Approximately 78.4% of those with sleep disturbance significantly believed that their ability to perform daily tasks is affected (p=0.005). Moreover, smoking and obesity were significantly associated with sleep disturbances (p less than 0.01). Participants with asthma, hypertension, chronic heart disease, and diabetes mellitus reported significantly more sleeping disturbance (p=0.016 to p=0.001). Conclusions: Sleep disturbances are associated with obesity, smoking, chronic health conditions, and lower performance among  Saudi adults.

Nonlinear dynamic processes in modified ionospheric plasma

Science.gov (United States)

Kochetov, A.; Terina, G.

Presented work is a contribution to the experimental and theoretical study of nonlinear effects arising on ionospheric plasma under the action of powerful radio emission (G.I. Terina, J. Atm. Terr. Phys., 1995, v.57, p.273; A.V. Kochetov et. al., Advances in Space Research, 2002, in press). The experimental results were obtained by the method of sounding of artificially disturbed ionosphere by short radio pulses. The amplitude and phase characteristics of scattered signal as of "caviton" type (CS) (analogy of narrow-band component of stimulation electromagnetic emission (SEE)) as the main signal (MS) of probing transmitter are considered. The theoretical model is based on numerical solution of driven nonlinear Shrödinger equation (NSE) in inhomogeneous plasma. The simulation allows us to study a self-consistent spatial-temporal dynamics of field and plasma. The observed evolution of phase characteristics of MS and CS qualitatively correspond to the results of numerical simulation and demonstrate the penetration processes of powerful electromagnetic wave in supercritical (in linear approach) plasma regions. The modeling results explain also the periodic generation of CS, the travel CS maximum down to density gradient, the aftereffect of CS. The obtained results show the excitation of strong turbulence and allow us to interpret CS, NC and so far inexplicable phenomena as "spikes" too. The work was supported in part by Russian Foundation for Basic Research (grants Nos. 99-02-16642, 99-02- 16399).

On the propagation of a quasi-static disturbance in a heterogeneous, deformable, and porous medium with pressure-dependent properties

Energy Technology Data Exchange (ETDEWEB)

Vasco, D.W.

2011-10-01

Using an asymptotic technique, valid when the medium properties are smoothly-varying, I derive a semi-analytic expression for the propagation velocity of a quasi-static disturbance traveling within a nonlinear-elastic porous medium. The phase, a function related to the propagation time, depends upon the properties of the medium, including the pressure-sensitivities of the medium parameters, and on pressure and displacement amplitude changes. Thus, the propagation velocity of a disturbance depends upon its amplitude, as might be expected for a nonlinear process. As a check, the expression for the phase function is evaluated for a poroelastic medium, when the material properties do not depend upon the fluid pressure. In that case, the travel time estimates agree with conventional analytic estimates, and with values calculated using a numerical simulator. For a medium with pressure-dependent permeability I find general agreement between the semi-analytic estimates and estimates from a numerical simulation. In this case the pressure amplitude changes are obtained from the numerical simulator.

Comparison of Linear and Nonlinear Model Predictive Control for Optimization of Spray Dryer Operation

DEFF Research Database (Denmark)

Petersen, Lars Norbert; Poulsen, Niels Kjølstad; Niemann, Hans Henrik

2015-01-01

In this paper, we compare the performance of an economically optimizing Nonlinear Model Predictive Controller (E-NMPC) to a linear tracking Model Predictive Controller (MPC) for a spray drying plant. We find in this simulation study, that the economic performance of the two controllers are almost...... equal. We evaluate the economic performance with an industrially recorded disturbance scenario, where unmeasured disturbances and model mismatch are present. The state of the spray dryer, used in the E-NMPC and MPC, is estimated using Kalman Filters with noise covariances estimated by a maximum...

Adaptive nonlinear robust relative pose control of spacecraft autonomous rendezvous and proximity operations.

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Sun, Liang; Huo, Wei; Jiao, Zongxia

2017-03-01

This paper studies relative pose control for a rigid spacecraft with parametric uncertainties approaching to an unknown tumbling target in disturbed space environment. State feedback controllers for relative translation and relative rotation are designed in an adaptive nonlinear robust control framework. The element-wise and norm-wise adaptive laws are utilized to compensate the parametric uncertainties of chaser and target spacecraft, respectively. External disturbances acting on two spacecraft are treated as a lumped and bounded perturbation input for system. To achieve the prescribed disturbance attenuation performance index, feedback gains of controllers are designed by solving linear matrix inequality problems so that lumped disturbance attenuation with respect to the controlled output is ensured in the L 2 -gain sense. Moreover, in the absence of lumped disturbance input, asymptotical convergence of relative pose are proved by using the Lyapunov method. Numerical simulations are performed to show that position tracking and attitude synchronization are accomplished in spite of the presence of couplings and uncertainties. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Gastroesophageal reflux disease and vocal disturbances

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Maria Aparecida Coelho de Arruda Henry

2011-06-01

Full Text Available CONTEXT: Gastroesophageal reflux disease is a chronic disease in which gastroduodenal contents reflux into the esophagus. The clinical picture of gastroesophageal reflux disease is usually composed by heartburn and regurgitation (typical manifestations. Atypical manifestations (vocal disturbances and asthma may also be complaint. OBJECTIVE: To analyse the clinical, endoscopic, manometric and pHmetric aspects of patients suffering from gastroesophageal reflux disease associated with vocal disturbances. METHODS: Fifty patients with gastroesophageal reflux disease were studied, including 25 with vocal disturbances (group 1 - G1 and 25 without these symptoms (group 2 - G2. All patients were submitted to endoscopy, manometry and esophageal pHmetry (2 probes. The group 1 patients were submitted to videolaryngoscopy. RESULTS: Endoscopic findings: non-erosive reflux disease was observed in 95% of G1 patients and 88% of G2. Videolaryngoscopy: vocal fold congestion, asymmetry, nodules and polyps were observed in G1 patients. Manometric findings: pressure in the lower esophageal sphincter (mm Hg: 11.6 ± 5.2 in G1 and 14.0 ± 6.2 in G2 (P = 0.14; pressure in the upper esophageal sphincter (mm Hg: 58.4 ± 15.9 in G1 and 69.5 ± 30.7 in the controls. pHmetric findings: De Meester index: 34.0 ± 20.9 in G1 and 15.4 ± 9.4 in G2 (P<0.001; number of reflux episodes in distal probe: 43.0 ± 20.4 in G1 and 26.4 ± 17.2 in G2 (P = 0.003; percentage of time with esophageal pH value lower than 4 units (distal sensor: 9.0% ± 6.4% in G1 and 3.4% ± 2.1% in G2 (P<0.001; number of reflux episodes in proximal probe: 7.5 ± 10.9 in G1 and 5.3 ± 5.7 in G2 (P = 0.38; percentage of time with esophageal pH values lower than 4 units (Proximal probe: 1.2 ± 2.7 in G1 and 0.5 ± 0.7 in G2 (P = 0.21. CONCLUSIONS: 1 The clinical, endoscopic, and manometric findings observed in patients with vocal disturbance do not differ from those without these symptoms; 2 gastroesophageal

Large-scale traveling ionospheric disturbances observed using GPS receivers over high-latitude and equatorial regions

Science.gov (United States)

Idrus, Intan Izafina; Abdullah, Mardina; Hasbi, Alina Marie; Husin, Asnawi; Yatim, Baharuddin

2013-09-01

This paper presents the first results of large-scale traveling ionospheric disturbances (LSTIDs) observation during two moderate magnetic storm events on 28 May 2011 (SYM-H∼ -94 nT and Dst∼-80 nT) and 6 August 2011 (SYM-H∼-126 nT and Dst∼-113 nT) over the high-latitude region in Russia, Sweden, Norway, Iceland and Greenland and equatorial region in the Peninsular Malaysia using vertical total electron content (VTEC) from the Global Positioning System (GPS) observations measurement. The propagation of the LSTID signatures in the GPS TEC measurements over Peninsular Malaysia was also investigated using VTEC map. The LSTIDs were found to propagate both equatorward and poleward directions during these two events. The results showed that the LSTIDs propagated faster at high-latitude region with an average phase velocity of 1074.91 m/s than Peninsular Malaysia with an average phase velocity of 604.84 m/s. The LSTIDs at the high-latitude region have average periods of 150 min whereas the ones observed over Peninsular Malaysia have average periods of 115 min. The occurrences of these LSTIDs were also found to be the subsequent effects of substorm activities in the auroral region. To our knowledge, this is the first result of observation of LSTIDs over Peninsular Malaysia during the 24th solar cycle.

Pitch Channel Control of a REMUS AUV with Input Saturation and Coupling Disturbances

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Nailong Wu

2018-02-01

Full Text Available The motion of an underwater vehicle is prone to be affected by time-varying model parameters and the actuator limitation in control practice. Adaptive control is an effective method to deal with the general system dynamic uncertainties and disturbances. However, the effect of disturbances control on transient dynamics is not prominent. In this paper, we redesign the L 1 adaptive control architecture (L1AC with anti-windup (AW compensator to guarantee robust and fast adaption of the underwater vehicle with input saturation and coupling disturbances. To reduce the fluctuation of vehicle states, the Riccati-based AW compensator is utilized to compensate the output signal from L1AC controller via taking proper modification. The proposed method is applied to the pitch channel of REMUS vehicle’s six Degrees Of Freedom (DOF model with strong nonlinearities and compared with L1AC baseline controller. Simulations show the effectiveness of the proposed control strategy compared to the original L1AC. Besides, the fluctuation in roll channel coupled with pitch channel is suppressed according to the performances of control tests.

Assessment of sleep disturbance in lung cancer patients: relationship between sleep disturbance and pain, fatigue, quality of life, and psychological distress.

Science.gov (United States)

Nishiura, Mare; Tamura, Atsuhisa; Nagai, Hideaki; Matsushima, Eisuke

2015-06-01

We investigated the prevalence of sleep disturbance and psychological distress in lung cancer patients. We also examined the association between sleep disturbance and psychological distress, pain, fatigue, and quality of life in the same population. Fifty lung cancer patients were evaluated. Sleep disturbance was assessed using the Athens Sleep Insomnia Scale (AIS) and psychological distress using the Hospital Anxiety and Depression Scale (HADS). Quality of life (QOL), pain, and fatigue were assessed employing the European Organization of Research and Treatment Quality of Life Questionnaire-Cancer 30 (EORTC QLQ-C30). We observed that 56% of lung cancer patients had sleep disturbance (AIS score ≥6) and 60% had psychological distress (total HADS score ≥11). Patients with sleep disturbance had a HADS score of 14.6 ± 5.8, a fatigue score of 45.3 ± 22.0, and a pain score of 27.2 ± 26.2. In contrast, patients without sleep disturbance had a lower HADS score of 9.9 ± 8.1 (p psychological distress. Additionally, the type of sleep disturbance was related to other patient factors, including whether or not they received chemotherapy.

Reconstructing disturbances and their biogeochemical consequences over multiple timescales

Science.gov (United States)

McLauchlan, Kendra K.; Higuera, Philip E.; Gavin, Daniel G.; Perakis, Steven S.; Mack, Michelle C.; Alexander, Heather; Battles, John; Biondi, Franco; Buma, Brian; Colombaroli, Daniele; Enders, Sara K.; Engstrom, Daniel R.; Hu, Feng Sheng; Marlon, Jennifer R.; Marshall, John; McGlone, Matt; Morris, Jesse L.; Nave, Lucas E.; Shuman, Bryan; Smithwick, Erica A.H.; Urrego, Dunia H.; Wardle, David A.; Williams, Christopher J.; Williams, Joseph J.

2014-01-01

Ongoing changes in disturbance regimes are predicted to cause acute changes in ecosystem structure and function in the coming decades, but many aspects of these predictions are uncertain. A key challenge is to improve the predictability of postdisturbance biogeochemical trajectories at the ecosystem level. Ecosystem ecologists and paleoecologists have generated complementary data sets about disturbance (type, severity, frequency) and ecosystem response (net primary productivity, nutrient cycling) spanning decadal to millennial timescales. Here, we take the first steps toward a full integration of these data sets by reviewing how disturbances are reconstructed using dendrochronological and sedimentary archives and by summarizing the conceptual frameworks for carbon, nitrogen, and hydrologic responses to disturbances. Key research priorities include further development of paleoecological techniques that reconstruct both disturbances and terrestrial ecosystem dynamics. In addition, mechanistic detail from disturbance experiments, long-term observations, and chronosequences can help increase the understanding of ecosystem resilience.

A case for variational geomagnetic data assimilation: insights from a one-dimensional, nonlinear, and sparsely observed MHD system

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A. Fournier

2007-01-01

Full Text Available Secular variations of the geomagnetic field have been measured with a continuously improving accuracy during the last few hundred years, culminating nowadays with satellite data. It is however well known that the dynamics of the magnetic field is linked to that of the velocity field in the core and any attempt to model secular variations will involve a coupled dynamical system for magnetic field and core velocity. Unfortunately, there is no direct observation of the velocity. Independently of the exact nature of the above-mentioned coupled system – some version being currently under construction – the question is debated in this paper whether good knowledge of the magnetic field can be translated into good knowledge of core dynamics. Furthermore, what will be the impact of the most recent and precise geomagnetic data on our knowledge of the geomagnetic field of the past and future? These questions are cast into the language of variational data assimilation, while the dynamical system considered in this paper consists in a set of two oversimplified one-dimensional equations for magnetic and velocity fields. This toy model retains important features inherited from the induction and Navier-Stokes equations: non-linear magnetic and momentum terms are present and its linear response to small disturbances contains Alfvén waves. It is concluded that variational data assimilation is indeed appropriate in principle, even though the velocity field remains hidden at all times; it allows us to recover the entire evolution of both fields from partial and irregularly distributed information on the magnetic field. This work constitutes a first step on the way toward the reassimilation of historical geomagnetic data and geomagnetic forecast.

A new reduced-order observer for the synchronization of nonlinear chaotic systems: An application to secure communications

Energy Technology Data Exchange (ETDEWEB)

Castro-Ramírez, Joel, E-mail: ingcastro.7@gmail.com [Universidad Politécnica de Tlaxcala Av. Universidad Politecnica de Tlaxcala No.1, San Pedro Xalcaltzinco, Tepeyanco, Tlaxcala, C.P. 90180 (Mexico); Martínez-Guerra, Rafael, E-mail: rguerra@ctrl.cinvestav.mx [Departamento de Control Automático CINVESTAV-IPN, A.P. 14-740, D.F., México C.P. 07360 (Mexico); Cruz-Victoria, Juan Crescenciano, E-mail: juancrescenciano.cruz@uptlax.edu.mx [Universidad Politécnica de Tlaxcala Av. Universidad Politécnica de Tlaxcala No.1, San Pedro Xalcaltzinco, Tepeyanco, Tlaxcala, C.P. 90180 (Mexico)

2015-10-15

This paper deals with the master-slave synchronization scheme for partially known nonlinear chaotic systems, where the unknown dynamics is considered as the master system and we propose the slave system structure which estimates the unknown states. It introduced a new reduced order observer, using the concept of Algebraic Observability; we applied the results to a Sundarapandian chaotic system, and by means of some numerical simulations we show the effectiveness of the suggested approach. Finally, the proposed observer is utilized for encryption, where encryption key is the master system and decryption key is the slave system.

A new reduced-order observer for the synchronization of nonlinear chaotic systems: An application to secure communications

International Nuclear Information System (INIS)

Castro-Ramírez, Joel; Martínez-Guerra, Rafael; Cruz-Victoria, Juan Crescenciano

2015-01-01

This paper deals with the master-slave synchronization scheme for partially known nonlinear chaotic systems, where the unknown dynamics is considered as the master system and we propose the slave system structure which estimates the unknown states. It introduced a new reduced order observer, using the concept of Algebraic Observability; we applied the results to a Sundarapandian chaotic system, and by means of some numerical simulations we show the effectiveness of the suggested approach. Finally, the proposed observer is utilized for encryption, where encryption key is the master system and decryption key is the slave system

Observation of confinement effects through liner and nonlinear absorption spectroscopy in cuprous oxide

Science.gov (United States)

Sekhar, H.; Rakesh Kumar, Y.; Narayana Rao, D.

2015-02-01

Cuprous oxide nano clusters, micro cubes and micro particles were successfully synthesized by reducing copper (II) salt with ascorbic acid in the presence of sodium hydroxide via a co-precipitation method. The X-ray diffraction studies revealed the formation of pure single phase cubic. Raman spectrum shows the inevitable presence of CuO on the surface of the Cu2O powders which may have an impact on the stability of the phase. Transmission electron microscopy (TEM) data revealed that the morphology evolves from nanoclusters to micro cubes and micro particles by increasing the concentration of NaOH. Linear optical measurements show that the absorption peak maximum shifts towards red with changing morphology from nano clusters to micro cubes and micro particles. The nonlinear optical properties were studied using open aperture Z-scan technique with 532 nm, 6 ns laser pulses. Samples exhibited saturable as well as reverse saturable absorption. The results show that the transition from SA to RSA is ascribed to excited-state absorption (ESA) induced by two-photon absorption (TPA) process. Due to confinement effects (enhanced band gap) we observed enhanced nonlinear absorption coefficient (βeff) in the case of nano-clusters compared to their micro-cubes and micro-particles.

Torsional Vibration of a Shafting System under Electrical Disturbances

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Ling Xiang

2012-01-01

Full Text Available Torsional vibration responses of a nonlinear shafting system are studied by a modified Riccati torsional transfer matrix combining with the Newmark-β method. Firstly, the system is modeled as a chain consisting of an elastic spring with concentrated mass points, from which a multi-segment lumped mass model is established. Secondly, accumulated errors are eliminated from the eigenfrequencies and responses of the system's torsional vibration by this newly developed procedure. The incremental transfer matrix method, combining the modified Riccati torsional transfer matrix with Newmark-β method, is further applied to solve the dynamical equations for the torsional vibration of the nonlinear shafting system. Lastly, the shafting system of a turbine-generator is employed as an illustrating example, and simulation analysis has been performed on the transient responses of the shaft's torsional vibrations during typical power network disturbances, such as three-phase short circuit, two-phase short circuit and asynchronous juxtaposition. The results validate the present method and are instructive for the design of a turbo-generator shaft.

Moderate forest disturbance as a stringent test for gap and big-leaf models

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Bond-Lamberty, B.; Fisk, J. P.; Holm, J. A.; Bailey, V.; Bohrer, G.; Gough, C. M.

2015-01-01

Disturbance-induced tree mortality is a key factor regulating the carbon balance of a forest, but tree mortality and its subsequent effects are poorly represented processes in terrestrial ecosystem models. It is thus unclear whether models can robustly simulate moderate (non-catastrophic) disturbances, which tend to increase biological and structural complexity and are increasingly common in aging US forests. We tested whether three forest ecosystem models - Biome-BGC (BioGeochemical Cycles), a classic big-leaf model, and the ZELIG and ED (Ecosystem Demography) gap-oriented models - could reproduce the resilience to moderate disturbance observed in an experimentally manipulated forest (the Forest Accelerated Succession Experiment in northern Michigan, USA, in which 38% of canopy dominants were stem girdled and compared to control plots). Each model was parameterized, spun up, and disturbed following similar protocols and run for 5 years post-disturbance. The models replicated observed declines in aboveground biomass well. Biome-BGC captured the timing and rebound of observed leaf area index (LAI), while ZELIG and ED correctly estimated the magnitude of LAI decline. None of the models fully captured the observed post-disturbance C fluxes, in particular gross primary production or net primary production (NPP). Biome-BGC NPP was correctly resilient but for the wrong reasons, and could not match the absolute observational values. ZELIG and ED, in contrast, exhibited large, unobserved drops in NPP and net ecosystem production. The biological mechanisms proposed to explain the observed rapid resilience of the C cycle are typically not incorporated by these or other models. It is thus an open question whether most ecosystem models will simulate correctly the gradual and less extensive tree mortality characteristic of moderate disturbances.

Solar-terrestrial disturbances of June-September 1982, 4

International Nuclear Information System (INIS)

Minakoshi, Hisamitsu; Sinno, Kenji; Nishimuta, Ichizo

1985-01-01

The ionospheric disturbances around Japan associated with the severe magnetic storm on July 14-16, 1982 were investigated using ionospheric total electron content (Nsub(t)) data obtained by the ETS-II beacon experiment and F-region data obtained by the soundings at the latitude chain of the ionospheric stations situated nearly along 135 0 E. The most remarkable storm effects were the negative disturbances, which are common at mid-latitudes in summer. The negative disturbances comprise decreases in Nsub(t) and peak electron density (Nsub(m)) and a marked increase in slab thickness. In addition, the following interesting events were observed during this storm: (1) sharp decreases in Nsub(t) and Nsub(m) occurred almost simultaneously in the regions from mid-latitudes to the equatorial latitude within a few hours after the storm sudden commencement (SSC), (2) some positive disturbances in the F-region appeared during the last phase of the storm, which were prominent at mid-latitudes during the night and at low-latitudes in the afternoon, and (3) a medium-scale traveling ionospheric distubance (TID) with a nearly north to south direction of propagation was observed as wavelike fluctuations of Nsub(t). (author)

Observing and modeling nonlinear dynamics in an internal combustion engine

International Nuclear Information System (INIS)

Daw, C.S.; Kennel, M.B.; Finney, C.E.; Connolly, F.T.

1998-01-01

We propose a low-dimensional, physically motivated, nonlinear map as a model for cyclic combustion variation in spark-ignited internal combustion engines. A key feature is the interaction between stochastic, small-scale fluctuations in engine parameters and nonlinear deterministic coupling between successive engine cycles. Residual cylinder gas from each cycle alters the in-cylinder fuel-air ratio and thus the combustion efficiency in succeeding cycles. The model close-quote s simplicity allows rapid simulation of thousands of engine cycles, permitting statistical studies of cyclic-variation patterns and providing physical insight into this technologically important phenomenon. Using symbol statistics to characterize the noisy dynamics, we find good quantitative matches between our model and experimental time-series measurements. copyright 1998 The American Physical Society

Soliton excitations in a class of nonlinear field theory models

International Nuclear Information System (INIS)

Makhan'kov, V.G.; Fedyanin, V.K.

1985-01-01

Investigation results of nonlinear models of the field theory with a lagrangian are described. The theory includes models both with zero stable vacuum epsilon=1 and with condensate epsilon=-1 (of disturbed symmetry). Conditions of existence of particle-like solutions (PLS), stability of these solutions are investigated. Soliton dynamics is studied. PLS formfactors are calculated. Statistical mechanics of solitons is built and their dynamic structure factors are calculated

Observer-Based Controller Design for a Class of Nonlinear Networked Control Systems with Random Time-Delays Modeled by Markov Chains

Directory of Open Access Journals (Sweden)

Yanfeng Wang

2017-01-01

Full Text Available This paper investigates the observer-based controller design problem for a class of nonlinear networked control systems with random time-delays. The nonlinearity is assumed to satisfy a global Lipschitz condition and two dependent Markov chains are employed to describe the time-delay from sensor to controller (S-C delay and the time-delay from controller to actuator (C-A delay, respectively. The transition probabilities of S-C delay and C-A delay are both assumed to be partly inaccessible. Sufficient conditions on the stochastic stability for the closed-loop systems are obtained by constructing proper Lyapunov functional. The methods of calculating the controller and the observer gain matrix are also given. Two numerical examples are used to illustrate the effectiveness of the proposed method.

Station-keeping control of an unmanned surface vehicle exposed to current and wind disturbances

OpenAIRE

Sarda, Edoardo I.; Qu, Huajin; Bertaska, Ivan R.; von Ellenrieder, Karl D.

2017-01-01

Field trials of a 4 meter long, 180 kilogram, unmanned surface vehicle (USV) have been conducted to evaluate the performance of station-keeping heading and position controllers in an outdoor marine environment disturbed by wind and current. The USV has a twin hull configuration and a custom-designed propulsion system, which consists of two azimuthing thrusters, one for each hull. Nonlinear proportional derivative, backstepping and sliding mode feedback controllers were tested in winds of abou...

Hydrological disturbance diminishes predator control in wetlands.

Science.gov (United States)

Dorn, Nathan J; Cook, Mark I

2015-11-01

Effects of predators on prey populations can be especially strong in aquatic ecosystems, but disturbances may mediate the strength of predator limitation and even allow outbreaks of some prey populations. In a two-year study we investigated the numerical responses of crayfish (Procambarus fallax) and small fishes (Poeciliidae and Fundulidae) to a brief hydrological disturbance in replicated freshwater wetlands with an experimental drying and large predatory fish reduction. The experiment and an in situ predation assay tested the component of the consumer stress model positing that disturbances release prey from predator limitation. In the disturbed wetlands, abundances of large predatory fish were seasonally reduced, similar to dynamics in the Everglades (southern Florida). Densities of small fish were unaffected by the disturbance, but crayfish densities, which were similar across all wetlands before drying, increased almost threefold in the year after the disturbance. Upon re-flooding, juvenile crayfish survival was inversely related to the abundance of large fish across wetlands, but we found no evidence for enhanced algal food quality. At a larger landscape scale (500 km2 of the Everglades), crayfish densities over eight years were positively correlated with the severity of local dry disturbances (up to 99 days dry) during the preceding dry season. In contrast, densities of small-bodied fishes in the same wetlands were seasonally depressed by dry disturbances. The results from our experimental wetland drought and the observations of crayfish densities in the Everglades represent a large-scale example of prey population release following a hydrological disturbance in a freshwater ecosystem. The conditions producing crayfish pulses in the Everglades appear consistent with the mechanics of the consumer stress model, and we suggest crayfish pulses may influence the number of nesting wading birds in the Everglades.

Nonlinear diffuse scattering of the random-phased wave

International Nuclear Information System (INIS)

Kato, Yoshiaki; Arinaga, Shinji; Mima, Kunioki.

1983-01-01

First experimental observation of the nonlinear diffuse scattering is reported. This new effect was observed in the propagation of the random-phased wave through a nonlinear dielectric medium. This effect is ascribed to the diffusion of the wavevector of the electro-magnetic wave to the lateral direction due to the randomly distributed nonlinear increase in the refractive index. (author)

Single-ion nonlinear mechanical oscillator

International Nuclear Information System (INIS)

Akerman, N.; Kotler, S.; Glickman, Y.; Dallal, Y.; Keselman, A.; Ozeri, R.

2010-01-01

We study the steady-state motion of a single trapped ion oscillator driven to the nonlinear regime. Damping is achieved via Doppler laser cooling. The ion motion is found to be well described by the Duffing oscillator model with an additional nonlinear damping term. We demonstrate here the unique ability of tuning both the linear as well as the nonlinear damping coefficients by controlling the laser-cooling parameters. Our observations pave the way for the investigation of nonlinear dynamics on the quantum-to-classical interface as well as mechanical noise squeezing in laser-cooling dynamics.

Data Assimilation of Lightning using 1D+3D/4D WRF Var Assimilation Schemes with Non-Linear Observation Operators

Science.gov (United States)

Navon, M. I.; Stefanescu, R.; Fuelberg, H. E.; Marchand, M.

2012-12-01

NASA's launch of the GOES-R Lightning Mapper (GLM) in 2015 will provide continuous, full disc, high resolution total lightning (IC + CG) data. The data will be available at a horizontal resolution of approximately 9 km. Compared to other types of data, the assimilation of lightning data into operational numerical models has received relatively little attention. Previous efforts of lightning assimilation mostly have employed nudging. This paper will describe the implementation of 1D+3D/4D Var assimilation schemes of existing ground-based WTLN (Worldwide Total Lightning Network) lightning observations using non-linear observation operators in the incremental WRFDA system. To mimic the expected output of GLM, the WTLN data were used to generate lightning super-observations characterized by flash rates/81 km2/20 min. A major difficulty associated with variational approaches is the complexity of the observation operator that defines the model equivalent of lightning. We use Convective Available Potential Energy (CAPE) as a proxy between lightning data and model variables. This operator is highly nonlinear. Marecal and Mahfouf (2003) have shown that nonlinearities can prevent direct assimilation of rainfall rates in the ECMWF 4D-VAR (using the incremental formulation proposed by Courtier et al. (1994)) from being successful. Using data from the 2011 Tuscaloosa, AL tornado outbreak, we have proved that the direct assimilation of lightning data into the WRF 3D/4D - Var systems is limited due to this incremental approach. Severe threshold limits must be imposed on the innovation vectors to obtain an improved analysis. We have implemented 1D+3D/4D Var schemes to assimilate lightning observations into the WRF model. Their use avoids innovation vector constrains from preventing the inclusion of a greater number of lightning observations Their use also minimizes the problem that nonlinearities in the moist convective scheme can introduce discontinuities in the cost function

Nonlinear optomechanical measurement of mechanical motion

DEFF Research Database (Denmark)

Brawley, G.A.; Vanner, M R; Larsen, Peter Emil

2016-01-01

Precision measurement of nonlinear observables is an important goal in all facets of quantum optics. This allows measurement-based non-classical state preparation, which has been applied to great success in various physical systems, and provides a route for quantum information processing with oth......Precision measurement of nonlinear observables is an important goal in all facets of quantum optics. This allows measurement-based non-classical state preparation, which has been applied to great success in various physical systems, and provides a route for quantum information processing...... with otherwise linear interactions. In cavity optomechanics much progress has been made using linear interactions and measurement, but observation of nonlinear mechanical degrees-of-freedom remains outstanding. Here we report the observation of displacement-squared thermal motion of a micro-mechanical resonator...... by exploiting the intrinsic nonlinearity of the radiation-pressure interaction. Using this measurement we generate bimodal mechanical states of motion with separations and feature sizes well below 100 pm. Future improvements to this approach will allow the preparation of quantum superposition states, which can...

Input Shaping enhanced Active Disturbance Rejection Control for a twin rotor multi-input multi-output system (TRMS).

Science.gov (United States)

Yang, Xiaoyan; Cui, Jianwei; Lao, Dazhong; Li, Donghai; Chen, Junhui

2016-05-01

In this paper, a composite control based on Active Disturbance Rejection Control (ADRC) and Input Shaping is presented for TRMS with two degrees of freedom (DOF). The control tasks consist of accurately tracking desired trajectories and obtaining disturbance rejection in both horizontal and vertical planes. Due to un-measurable states as well as uncertainties stemming from modeling uncertainty and unknown disturbance torques, ADRC is employed, and feed-forward Input Shaping is used to improve the dynamical response. In the proposed approach, because the coupling effects are maintained in controller derivation, there is no requirement to decouple the TRMS into horizontal and vertical subsystems, which is usually performed in the literature. Finally, the proposed method is implemented on the TRMS platform, and the results are compared with those of PID and ADRC in a similar structure. The experimental results demonstrate the effectiveness of the proposed method. The operation of the controller allows for an excellent set-point tracking behavior and disturbance rejection with system nonlinearity and complex coupling conditions. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Daytime, low latitude, vertical ExB drift velocities, inferred from ground-based magnetometer observations in the Peruvian, Philippine and Indian longitude sectors under quiet and disturbed conditions

CERN Document Server

Anderson, D; Chau, J; Yumoto, K; Bhattacharya, A; Alex, S

2006-01-01

Daytime, low latitude, vertical ExB drift velocities, inferred from ground-based magnetometer observations in the Peruvian, Philippine and Indian longitude sectors under quiet and disturbed conditions

Indirect fuzzy adaptive control of a class of SISO nonlinear systems

International Nuclear Information System (INIS)

Laboid, S.; Boucherit, M.S.

2006-01-01

This paper presents an adaptive fuzzy control scheme for a class of continuous-time single-input single-output nonlinear systems with unknown dynamics and disturbance. Within this scheme, the fuzzy systems are employed to approximate the unknown system's dynamics. The proposed controller is composed of a well-defined adaptive fuzzy control term that uses the adaptive fuzzy approximation errors and disturbance. Based on a Lyapunov synthesis method, it is shown that the proposed adaptive control scheme guarantees the convergence of the tracking error to zero and the global boundedness of all signals in the closed-loop system. Moreover, the proposed controller allows initialization by zero of all adjusted parameters in the fuzzy approximators, and does not require the knowledge of the lower bound of the control gain and upper bounds of the approximation errors and disturbance. Simulation results performed on an inverted pendulum system are given to point out the good performance of the developed adaptive controller. (author)

Development of a nonlinear unsteady transonic flow theory

Science.gov (United States)

Stahara, S. S.; Spreiter, J. R.

1973-01-01

A nonlinear, unsteady, small-disturbance theory capable of predicting inviscid transonic flows about aerodynamic configurations undergoing both rigid body and elastic oscillations was developed. The theory is based on the concept of dividing the flow into steady and unsteady components and then solving, by method of local linearization, the coupled differential equation for unsteady surface pressure distribution. The equations, valid at all frequencies, were derived for two-dimensional flows, numerical results, were obtained for two classses of airfoils and two types of oscillatory motions.

Correlating non-linear properties with spectral states of RXTE data: possible observational evidences for four different accretion modes around compact objects

Science.gov (United States)

Adegoke, Oluwashina; Dhang, Prasun; Mukhopadhyay, Banibrata; Ramadevi, M. C.; Bhattacharya, Debbijoy

2018-05-01

By analysing the time series of RXTE/PCA data, the non-linear variabilities of compact sources have been repeatedly established. Depending on the variation in temporal classes, compact sources exhibit different non-linear features. Sometimes they show low correlation/fractal dimension, but in other classes or intervals of time they exhibit stochastic nature. This could be because the accretion flow around a compact object is a non-linear general relativistic system involving magnetohydrodynamics. However, the more conventional way of addressing a compact source is the analysis of its spectral state. Therefore, the question arises: What is the connection of non-linearity to the underlying spectral properties of the flow when the non-linear properties are related to the associated transport mechanisms describing the geometry of the flow? This work is aimed at addressing this question. Based on the connection between observed spectral and non-linear (time series) properties of two X-ray binaries: GRS 1915+105 and Sco X-1, we attempt to diagnose the underlying accretion modes of the sources in terms of known accretion classes, namely, Keplerian disc, slim disc, advection dominated accretion flow and general advective accretion flow. We explore the possible transition of the sources from one accretion mode to others with time. We further argue that the accretion rate must play an important role in transition between these modes.

A Study on Application of Fuzzy Adaptive Unscented Kalman Filter to Nonlinear Turbojet Engine Control

Science.gov (United States)

Han, Dongju

2018-05-01

Safe and efficient flight powered by an aircraft turbojet engine relies on the performance of the engine controller preventing compressor surge with robustness from noises or disturbances. This paper proposes the effective nonlinear controller associated with the nonlinear filter for the real turbojet engine with highly nonlinear dynamics. For the feasible controller study the nonlinearity of the engine dynamics was investigated by comparing the step responses from the linearized model with the original nonlinear dynamics. The fuzzy-based PID control logic is introduced to control the engine efficiently and FAUKF is applied for robustness from noises. The simulation results prove the effectiveness of FAUKF applied to the proposed controller such that the control performances are superior over the conventional controller and the filer performance using FAUKF indicates the satisfactory results such as clearing the defects by reducing the distortions without compressor surge, whereas the conventional UKF is not fully effective as occurring some distortions with compressor surge due to a process noise.

Disturbance, neutral theory, and patterns of beta diversity in soil communities.

Science.gov (United States)

Maaß, Stefanie; Migliorini, Massimo; Rillig, Matthias C; Caruso, Tancredi

2014-12-01

Beta diversity describes how local communities within an area or region differ in species composition/abundance. There have been attempts to use changes in beta diversity as a biotic indicator of disturbance, but lack of theory and methodological caveats have hampered progress. We here propose that the neutral theory of biodiversity plus the definition of beta diversity as the total variance of a community matrix provide a suitable, novel, starting point for ecological applications. Observed levels of beta diversity (BD) can be compared to neutral predictions with three possible outcomes: Observed BD equals neutral prediction or is larger (divergence) or smaller (convergence) than the neutral prediction. Disturbance might lead to either divergence or convergence, depending on type and strength. We here apply these ideas to datasets collected on oribatid mites (a key, very diverse soil taxon) under several regimes of disturbances. When disturbance is expected to increase the heterogeneity of soil spatial properties or the sampling strategy encompassed a range of diverging environmental conditions, we observed diverging assemblages. On the contrary, we observed patterns consistent with neutrality when disturbance could determine homogenization of soil properties in space or the sampling strategy encompassed fairly homogeneous areas. With our method, spatial and temporal changes in beta diversity can be directly and easily monitored to detect significant changes in community dynamics, although the method itself cannot inform on underlying mechanisms. However, human-driven disturbances and the spatial scales at which they operate are usually known. In this case, our approach allows the formulation of testable predictions in terms of expected changes in beta diversity, thereby offering a promising monitoring tool.

Observation of Self-Similar Behavior of the 3D, Nonlinear Rayleigh-Taylor Instability

International Nuclear Information System (INIS)

Sadot, O.; Smalyuk, V.A.; Delettrez, J.A.; Sangster, T.C.; Goncharov, V.N.; Meyerhofer, D.D.; Betti, R.; Shvarts, D.

2005-01-01

The Rayleigh-Taylor unstable growth of laser-seeded, 3D broadband perturbations was experimentally measured in the laser-accelerated, planar plastic foils. The first experimental observation showing the self-similar behavior of the bubble size and amplitude distributions under ablative conditions is presented. In the nonlinear regime, the modulation σ rms grows as α σ gt 2 , where g is the foil acceleration, t is the time, and α σ is constant. The number of bubbles evolves as N(t)∝(ωt√(g)+C) -4 and the average size evolves as (t)∝ω 2 gt 2 , where C is a constant and ω=0.83±0.1 is the measured scaled bubble-merging rate

Traveling ionospheric disturbances triggered by the 2009 North Korean underground nuclear explosion

Energy Technology Data Exchange (ETDEWEB)

Zhang, X.; Tang, L. [Wuhan Univ. (China). School of Geodesy and Geomatics

2015-04-01

Underground nuclear explosions (UNEs) can induce acoustic-gravity waves, which disturb the ionosphere and initiate traveling ionospheric disturbances (TIDs). In this paper, we employ a multi-step and multi-order numerical difference method with dual-frequency GPS data to detect ionospheric disturbances triggered by the North Korean UNE on 25 May 2009. Several International GNSS Service (IGS) stations with different distances (400 to 1200 km) from the epicenter were chosen for the experiment. The results show that there are two types of disturbances in the ionospheric disturbance series: high-frequency TIDs with periods of approximately 1 to 2 min and low-frequency waves with period spectrums of 2 to 5 min. The observed TIDs are situated around the epicenter of the UNE, and show similar features, indicating the origin of the observed disturbances is the UNE event. According to the amplitudes, periods and average propagation velocities, the high-frequency and low-frequency TIDs can be attributed to the acoustic waves in the lower ionosphere and higher ionosphere, respectively. (orig.)

Computer simulations on the nonlinear frequency shift and nonlinear modulation of ion-acoustic waves

International Nuclear Information System (INIS)

Ohsawa, Yukiharu; Kamimura, Tetsuo.

1976-11-01

The nonlinear behavior of ion-acoustic waves with rather short wave-length, k lambda sub(De) asymptotically equals 1, is investigated by computer sumulations. It is observed that the nonlinear frequency shift is negative and is proportional to square root of the initial wave amplitude when the amplitude is not too large. This proportionality breaks down and the frequency shift can become positive (for large Te/Ti), when (n tilde sub(i)/n 0 )sup(1/2)>0.25, where n tilde sub(i) is the ion density perturbation and n 0 the average plasma density. Nonlinear modulation of the wave-packet is clearly seen; however, modulational instability was not observed. The importance of the effects of trapped ions to these phenomena is emphasized. (auth.)

Swarm: Recent Progress in Analysis of the Sun Induced Magnetic Disturbance

DEFF Research Database (Denmark)

Tøffner-Clausen, Lars; Lesur, Vincent; Brauer, Peter

The ESA Earth Observation Magnetic Mission Swarm carries high precision vector and scalar magnetometers. Careful analyses have revealed s smaller, Sun driven magnetic disturbance of the vector magnetometer. This disturbance have been imperically mapped and corrected since mid 2015. This work...

Nonlinear Ion Harmonics in the Paul Trap with Added Octopole Field: Theoretical Characterization and New Insight into Nonlinear Resonance Effect.

Science.gov (United States)

Xiong, Caiqiao; Zhou, Xiaoyu; Zhang, Ning; Zhan, Lingpeng; Chen, Yongtai; Nie, Zongxiu

2016-02-01

The nonlinear harmonics within the ion motion are the fingerprint of the nonlinear fields. They are exclusively introduced by these nonlinear fields and are responsible to some specific nonlinear effects such as nonlinear resonance effect. In this article, the ion motion in the quadrupole field with a weak superimposed octopole component, described by the nonlinear Mathieu equation (NME), was studied by using the analytical harmonic balance (HB) method. Good accuracy of the HB method, which was comparable with that of the numerical fourth-order Runge-Kutta (4th RK), was achieved in the entire first stability region, except for the points at the stability boundary (i.e., β = 1) and at the nonlinear resonance condition (i.e., β = 0.5). Using the HB method, the nonlinear 3β harmonic series introduced by the octopole component and the resultant nonlinear resonance effect were characterized. At nonlinear resonance, obvious resonant peaks were observed in the nonlinear 3β series of ion motion, but were not found in the natural harmonics. In addition, both resonant excitation and absorption peaks could be observed, simultaneously. These are two unique features of the nonlinear resonance, distinguishing it from the normal resonance. Finally, an approximation equation was given to describe the corresponding working parameter, q nr , at nonlinear resonance. This equation can help avoid the sensitivity degradation due to the operation of ion traps at the nonlinear resonance condition.

Fault detection and fault-tolerant control for nonlinear systems

CERN Document Server

Li, Linlin

2016-01-01

Linlin Li addresses the analysis and design issues of observer-based FD and FTC for nonlinear systems. The author analyses the existence conditions for the nonlinear observer-based FD systems to gain a deeper insight into the construction of FD systems. Aided by the T-S fuzzy technique, she recommends different design schemes, among them the L_inf/L_2 type of FD systems. The derived FD and FTC approaches are verified by two benchmark processes. Contents Overview of FD and FTC Technology Configuration of Nonlinear Observer-Based FD Systems Design of L2 nonlinear Observer-Based FD Systems Design of Weighted Fuzzy Observer-Based FD Systems FTC Configurations for Nonlinear Systems< Application to Benchmark Processes Target Groups Researchers and students in the field of engineering with a focus on fault diagnosis and fault-tolerant control fields The Author Dr. Linlin Li completed her dissertation under the supervision of Prof. Steven X. Ding at the Faculty of Engineering, University of Duisburg-Essen, Germany...

On the Stability of Three-Dimensional Boundary Layers. Part 1; Linear and Nonlinear Stability

Science.gov (United States)

Janke, Erik; Balakumar, Ponnampalam

1999-01-01

The primary stability of incompressible three-dimensional boundary layers is investigated using the Parabolized Stability Equations (PSE). We compute the evolution of stationary and traveling disturbances in the linear and nonlinear region prior to transition. As model problems, we choose Swept Hiemenz Flow and the DLR Transition Experiment. The primary stability results for Swept Hiemenz Flow agree very well with computations by Malik et al. For the DLR Experiment, the mean flow profiles are obtained by solving the boundary layer equations for the measured pressure distribution. Both linear and nonlinear results show very good agreement with the experiment.

H∞ Excitation Control Design for Stochastic Power Systems with Input Delay Based on Nonlinear Hamiltonian System Theory

Directory of Open Access Journals (Sweden)

Weiwei Sun

2015-01-01

Full Text Available This paper presents H∞ excitation control design problem for power systems with input time delay and disturbances by using nonlinear Hamiltonian system theory. The impact of time delays introduced by remote signal transmission and processing in wide-area measurement system (WAMS is well considered. Meanwhile, the systems under investigation are disturbed by random fluctuation. First, under prefeedback technique, the power systems are described as a nonlinear Hamiltonian system. Then the H∞ excitation controller of generators connected to distant power systems with time delay and stochasticity is designed. Based on Lyapunov functional method, some sufficient conditions are proposed to guarantee the rationality and validity of the proposed control law. The closed-loop systems under the control law are asymptotically stable in mean square independent of the time delay. And we through a simulation of a two-machine power system prove the effectiveness of the results proposed in this paper.

A Novel Controller Design for the Next Generation Space Electrostatic Accelerometer Based on Disturbance Observation and Rejection.

Science.gov (United States)

Li, Hongyin; Bai, Yanzheng; Hu, Ming; Luo, Yingxin; Zhou, Zebing

2016-12-23

The state-of-the-art accelerometer technology has been widely applied in space missions. The performance of the next generation accelerometer in future geodesic satellites is pushed to 8 × 10 - 13 m / s 2 / H z 1 / 2 , which is close to the hardware fundamental limit. According to the instrument noise budget, the geodesic test mass must be kept in the center of the accelerometer within the bounds of 56 pm / Hz 1 / 2 by the feedback controller. The unprecedented control requirements and necessity for the integration of calibration functions calls for a new type of control scheme with more flexibility and robustness. A novel digital controller design for the next generation electrostatic accelerometers based on disturbance observation and rejection with the well-studied Embedded Model Control (EMC) methodology is presented. The parameters are optimized automatically using a non-smooth optimization toolbox and setting a weighted H-infinity norm as the target. The precise frequency performance requirement of the accelerometer is well met during the batch auto-tuning, and a series of controllers for multiple working modes is generated. Simulation results show that the novel controller could obtain not only better disturbance rejection performance than the traditional Proportional Integral Derivative (PID) controllers, but also new instrument functions, including: easier tuning procedure, separation of measurement and control bandwidth and smooth control parameter switching.

A Novel Controller Design for the Next Generation Space Electrostatic Accelerometer Based on Disturbance Observation and Rejection

Directory of Open Access Journals (Sweden)

Hongyin Li

2016-12-01

Full Text Available The state-of-the-art accelerometer technology has been widely applied in space missions. The performance of the next generation accelerometer in future geodesic satellites is pushed to 8 × 10 − 13 m / s 2 / H z 1 / 2 , which is close to the hardware fundamental limit. According to the instrument noise budget, the geodesic test mass must be kept in the center of the accelerometer within the bounds of 56 pm / Hz 1 / 2 by the feedback controller. The unprecedented control requirements and necessity for the integration of calibration functions calls for a new type of control scheme with more flexibility and robustness. A novel digital controller design for the next generation electrostatic accelerometers based on disturbance observation and rejection with the well-studied Embedded Model Control (EMC methodology is presented. The parameters are optimized automatically using a non-smooth optimization toolbox and setting a weighted H-infinity norm as the target. The precise frequency performance requirement of the accelerometer is well met during the batch auto-tuning, and a series of controllers for multiple working modes is generated. Simulation results show that the novel controller could obtain not only better disturbance rejection performance than the traditional Proportional Integral Derivative (PID controllers, but also new instrument functions, including: easier tuning procedure, separation of measurement and control bandwidth and smooth control parameter switching.

Extended state observer-based motion synchronisation control for hybrid actuation system of large civil aircraft

Science.gov (United States)

Wang, Xingjian; Shi, Cun; Wang, Shaoping

2017-07-01

Hybrid actuation system with dissimilar redundant actuators, which is composed of a hydraulic actuator (HA) and an electro-hydrostatic actuator (EHA), has been applied on modern civil aircraft to improve the reliability. However, the force fighting problem arises due to different dynamic performances between HA and EHA. This paper proposes an extended state observer (ESO)-based motion synchronisation control method. To cope with the problem of unavailability of the state signals, the well-designed ESO is utilised to observe the HA and EHA state variables which are unmeasured. In particular, the extended state of ESO can estimate the lumped effect of the unknown external disturbances acting on the control surface, the nonlinear dynamics, uncertainties, and the coupling term between HA and EHA. Based on the observed states of ESO, motion synchronisation controllers are presented to make HA and EHA to simultaneously track the desired motion trajectories, which are generated by a trajectory generator. Additionally, the unknown disturbances and the coupling terms can be compensated by using the extended state of the proposed ESO. Finally, comparative simulation results indicate that the proposed ESO-based motion synchronisation controller can achieve great force fighting reduction between HA and EHA.

First Integrals of Evolution Systems and Nonlinear Stability of Stationary Solutions for the Ideal Atmospheric, Oceanic Hydrodynamical and Plasma Models

International Nuclear Information System (INIS)

Gordin, V.A.

1998-01-01

First integral of the systems of nonlinear equations governing the behaviour of atmospheric, oceanic and MHD plasma models are determined. The Lyapunov stability conditions for the solutions under small initial disturbances are analyzed. (author)

Robust and Stable Disturbance Observer of Servo System for Low Speed Operation Using the Radial Basis Function Network

DEFF Research Database (Denmark)

Lee, Kyo-Beum; Blaabjerg, Frede

2005-01-01

A new scheme to estimate the moment of inertia in the servo motor drive system in very low speed is proposed in this paper. The speed estimation scheme in most servo drive systems for low speed operation is sensitive to the variation of machine parameter, especially the moment of inertia....... To estimate the motor inertia value, the observer using the Radial Basis Function Network (RBFN) is applied. A control law for stabilizing the system and adaptive laws for updating both of the weights in the RBFN and a bounding constant are established so that the whole closed-loop system is stable...... in the sense of Lyapunov. The effectiveness of the proposed inertia estimation is verified by simulations and experiments. It is concluded that the speed control performance in low speed region is improved with the proposed disturbance observer using RBFN....

Reaction Wheel Disturbance Model Extraction Software - RWDMES

Science.gov (United States)

Blaurock, Carl

2009-01-01

densities); converting PSDs to order analysis data; extracting harmonics; initializing and simultaneously tuning a harmonic model and a wheel structural model; initializing and tuning a broadband model; and verifying the harmonic/broadband/structural model against the measurement data. Functional operation is through a MATLAB GUI that loads test data, performs the various analyses, plots evaluation data for assessment and refinement of analysis parameters, and exports the data to documentation or downstream analysis code. The harmonic models are defined as specified functions of frequency, typically speed-squared. The reaction wheel structural model is realized as mass, damping, and stiffness matrices (typically from a finite element analysis package) with the addition of a gyroscopic forcing matrix. The broadband noise model is realized as a set of speed-dependent filters. The tuning of the combined model is performed using nonlinear least squares techniques. RWDMES is implemented as a MATLAB toolbox comprising the Fit Manager for performing the model extraction, Data Manager for managing input data and output models, the Gyro Manager for modifying wheel structural models, and the Harmonic Editor for evaluating and tuning harmonic models. This software was validated using data from Goodrich E wheels, and from GSFC Lunar Reconnaissance Orbiter (LRO) wheels. The validation testing proved that RWDMES has the capability to extract accurate disturbance models from flight reaction wheels with minimal user effort.

Climatology of medium-scale traveling ionospheric disturbances observed by the midlatitude Blackstone SuperDARN radar

Science.gov (United States)

Frissell, N. A.; Baker, J. B. H.; Ruohoniemi, J. M.; Gerrard, A. J.; Miller, E. S.; Marini, J. P.; West, M. L.; Bristow, W. A.

2014-09-01

A climatology of daytime midlatitude medium-scale traveling ionospheric disturbances (MSTIDs) observed by the Blackstone Super Dual Auroral Radar Network (SuperDARN) radar is presented. MSTIDs were observed primarily from fall through spring. Two populations were observed: a dominant population heading southeast (centered at 147° geographic azimuth, ranging from 100° to 210°) and a secondary population heading northwest (centered at -50° azimuth, ranging from -75° to -25°). Horizontal velocities ranged from 50 to 250 m s-1 with a distribution maximum between 100 and 150 m s-1. Horizontal wavelengths ranged from 100 to 500 km with a distribution peak at 250 km, and periods between 23 and 60 min, suggesting that the MSTIDs may be consistent with thermospheric gravity waves. A local time (LT) dependence was observed such that the dominant (southeastward) population decreased in number as the day progressed until a late afternoon increase. The secondary (northwestward) population appeared only in the afternoon, possibly indicative of neutral wind effects or variability of sources. LT dependence was not observed in other parameters. Possible solar-geomagnetic and tropospheric MSTID sources were considered. The auroral electrojet (AE) index showed a correlation with MSTID statistics. Reverse ray tracing with the HINDGRATS model indicates that the dominant population has source regions over the Great Lakes and near the geomagnetic cusp, while the secondary population source region is 100 km above the Atlantic Ocean east of the Carolinas. This suggests that the dominant population may come from a region favorable to either tropospheric or geomagnetic sources, while the secondary population originates from a region favorable to secondary waves generated via lower atmospheric convection.

Coral population trajectories, increased disturbance and management intervention: A sensitivity analysis

KAUST Repository

Riegl, Bernhard; Berumen, Michael L.; Bruckner, Andrew

2013-01-01

Coral reefs distant from human population were sampled in the Red Sea and one-third showed degradation by predator outbreaks (crown-of-thorns-starfish=COTS observed in all regions in all years) or bleaching (1998, 2010). Models were built to assess future trajectories. They assumed variable coral types (slow/fast growing), disturbance frequencies (5,10,20years), mortality (equal or not), and connectivity (un/connected to un/disturbed community). Known disturbances were used to parameterize models. Present and future disturbances were estimated from remote-sensing chlorophyll and temperature data. Simulations and sensitivity analysis suggest community resilience at >20-year disturbance frequency, but degradation at higher frequency. Trajectories move from fast-grower to slow-grower dominance at intermediate disturbance frequency, then again to fast-grower dominance. A similar succession was observed in the field: Acropora to Porites to Stylophora/Pocillopora dominance on shallow reefs, and a transition from large poritids to small faviids on deep reefs. Synthesis and application: Even distant reefs are impacted by global changes. COTS impacts and bleaching were key driver of coral degradation, coral population decline could be reduced if these outbreaks and bleaching susceptibility were managed by maintaining water quality and by other interventions. Just leaving reefs alone, seems no longer a satisfactory option. 2013 The Authors. Ecology and Evolution.

Coral population trajectories, increased disturbance and management intervention: A sensitivity analysis

KAUST Repository

Riegl, Bernhard

2013-03-07

Coral reefs distant from human population were sampled in the Red Sea and one-third showed degradation by predator outbreaks (crown-of-thorns-starfish=COTS observed in all regions in all years) or bleaching (1998, 2010). Models were built to assess future trajectories. They assumed variable coral types (slow/fast growing), disturbance frequencies (5,10,20years), mortality (equal or not), and connectivity (un/connected to un/disturbed community). Known disturbances were used to parameterize models. Present and future disturbances were estimated from remote-sensing chlorophyll and temperature data. Simulations and sensitivity analysis suggest community resilience at >20-year disturbance frequency, but degradation at higher frequency. Trajectories move from fast-grower to slow-grower dominance at intermediate disturbance frequency, then again to fast-grower dominance. A similar succession was observed in the field: Acropora to Porites to Stylophora/Pocillopora dominance on shallow reefs, and a transition from large poritids to small faviids on deep reefs. Synthesis and application: Even distant reefs are impacted by global changes. COTS impacts and bleaching were key driver of coral degradation, coral population decline could be reduced if these outbreaks and bleaching susceptibility were managed by maintaining water quality and by other interventions. Just leaving reefs alone, seems no longer a satisfactory option. 2013 The Authors. Ecology and Evolution.

Disturbance Regimes Predictably Alter Diversity in an Ecologically Complex Bacterial System

Directory of Open Access Journals (Sweden)

Sean M. Gibbons

2016-12-01

Full Text Available Diversity is often associated with the functional stability of ecological communities from microbes to macroorganisms. Understanding how diversity responds to environmental perturbations and the consequences of this relationship for ecosystem function are thus central challenges in microbial ecology. Unimodal diversity-disturbance relationships, in which maximum diversity occurs at intermediate levels of disturbance, have been predicted for ecosystems where life history tradeoffs separate organisms along a disturbance gradient. However, empirical support for such peaked relationships in macrosystems is mixed, and few studies have explored these relationships in microbial systems. Here we use complex microbial microcosm communities to systematically determine diversity-disturbance relationships over a range of disturbance regimes. We observed a reproducible switch between community states, which gave rise to transient diversity maxima when community states were forced to mix. Communities showed reduced compositional stability when diversity was highest. To further explore these dynamics, we formulated a simple model that reveals specific regimes under which diversity maxima are stable. Together, our results show how both unimodal and non-unimodal diversity-disturbance relationships can be observed as a system switches between two distinct microbial community states; this process likely occurs across a wide range of spatially and temporally heterogeneous microbial ecosystems.

From linear to nonlinear control means: a practical progression.

Science.gov (United States)

Gao, Zhiqiang

2002-04-01

With the rapid advance of digital control hardware, it is time to take the simple but effective proportional-integral-derivative (PID) control technology to the next level of performance and robustness. For this purpose, a nonlinear PID and active disturbance rejection framework are introduced in this paper. It complements the existing theory in that (1) it actively and systematically explores the use of nonlinear control mechanisms for better performance, even for linear plants; (2) it represents a control strategy that is rather independent of mathematical models of the plants, thus achieving inherent robustness and reducing design complexity. Stability analysis, as well as software/hardware test results, are presented. It is evident that the proposed framework lends itself well in seeking innovative solutions to practical problems while maintaining the simplicity and the intuitiveness of the existing technology.

Features of infrasonic and ionospheric disturbances generated by launch vehicle

International Nuclear Information System (INIS)

Drobzheva, Ya.V.; Krasnov, V.M.; Sokolova, O.I.

2001-01-01

In this paper we present a model, which describe the propagation of acoustic pulses through a model terrestrial atmosphere produced by launch vehicle, and effects of these pulses on the ionosphere above the launch vehicle. We show that acoustic pulses generate disturbances of electron density. The value of these disturbances is about 0.04-0.7% of background electron density. So such disturbances can not create serious noise-free during monitoring of explosions by ionospheric method. We calculated parameters of the blast wave generated at the ionospheric heights by launch vehicle. It was shown that the blast wave is intense and it can generates disturbance of electron density which 2.6 times as much then background electron density. This disturbance is 'cord' with diameter about 150-250 m whereas length of radio line is hundreds and thousand km. Duration of ionospheric disturbances are from 0.2 s to 3-5 s. Such values of duration can not be observed during underground and surface explosions. (author)

Discovery of Ubiquitous Fast-Propagating Intensity Disturbances by the Chromospheric Lyman Alpha Spectropolarimeter (CLASP)

Science.gov (United States)

Kubo, M.; Katsukawa, Y.; Suematsu, Y.; Kano, R.; Bando, T.; Narukage, N.; Ishikawa, R.; Hara, H.; Giono, G.; Tsuneta, S.; Ishikawa, S.; Shimizu, T.; Sakao, T.; Winebarger, A.; Kobayashi, K.; Cirtain, J.; Champey, P.; Auchère, F.; Trujillo Bueno, J.; Asensio Ramos, A.; Štěpán, J.; Belluzzi, L.; Manso Sainz, R.; De Pontieu, B.; Ichimoto, K.; Carlsson, M.; Casini, R.; Goto, M.

2016-12-01

High-cadence observations by the slit-jaw (SJ) optics system of the sounding rocket experiment known as the Chromospheric Lyman Alpha Spectropolarimeter (CLASP) reveal ubiquitous intensity disturbances that recurrently propagate in either the chromosphere or the transition region or both at a speed much higher than the speed of sound. The CLASP/SJ instrument provides a time series of two-dimensional images taken with broadband filters centered on the Lyα line at a 0.6 s cadence. The multiple fast-propagating intensity disturbances appear in the quiet Sun and in an active region, and they are clearly detected in at least 20 areas in a field of view of 527″ × 527″ during the 5 minute observing time. The apparent speeds of the intensity disturbances range from 150 to 350 km s-1, and they are comparable to the local Alfvén speed in the transition region. The intensity disturbances tend to propagate along bright elongated structures away from areas with strong photospheric magnetic fields. This suggests that the observed fast-propagating intensity disturbances are related to the magnetic canopy structures. The maximum distance traveled by the intensity disturbances is about 10″, and the widths are a few arcseconds, which are almost determined by a pixel size of 1.″03. The timescale of each intensity pulse is shorter than 30 s. One possible explanation for the fast-propagating intensity disturbances observed by CLASP is magnetohydrodynamic fast-mode waves.

DISCOVERY OF UBIQUITOUS FAST-PROPAGATING INTENSITY DISTURBANCES BY THE CHROMOSPHERIC LYMAN ALPHA SPECTROPOLARIMETER (CLASP)

International Nuclear Information System (INIS)

Kubo, M.; Katsukawa, Y.; Suematsu, Y.; Kano, R.; Bando, T.; Narukage, N.; Ishikawa, R.; Hara, H.; Giono, G.; Tsuneta, S.; Ishikawa, S.; Shimizu, T.; Sakao, T.; Winebarger, A.; Kobayashi, K.; Cirtain, J.; Champey, P.; Auchère, F.; Bueno, J. Trujillo; Ramos, A. Asensio

2016-01-01

High-cadence observations by the slit-jaw (SJ) optics system of the sounding rocket experiment known as the Chromospheric Lyman Alpha Spectropolarimeter (CLASP) reveal ubiquitous intensity disturbances that recurrently propagate in either the chromosphere or the transition region or both at a speed much higher than the speed of sound. The CLASP/SJ instrument provides a time series of two-dimensional images taken with broadband filters centered on the Ly α line at a 0.6 s cadence. The multiple fast-propagating intensity disturbances appear in the quiet Sun and in an active region, and they are clearly detected in at least 20 areas in a field of view of 527″ × 527″ during the 5 minute observing time. The apparent speeds of the intensity disturbances range from 150 to 350 km s −1 , and they are comparable to the local Alfvén speed in the transition region. The intensity disturbances tend to propagate along bright elongated structures away from areas with strong photospheric magnetic fields. This suggests that the observed fast-propagating intensity disturbances are related to the magnetic canopy structures. The maximum distance traveled by the intensity disturbances is about 10″, and the widths are a few arcseconds, which are almost determined by a pixel size of 1.″03. The timescale of each intensity pulse is shorter than 30 s. One possible explanation for the fast-propagating intensity disturbances observed by CLASP is magnetohydrodynamic fast-mode waves.

[Effect of trampling disturbance on soil infiltration of biological soil crusts].

Science.gov (United States)

Shi, Ya Fang; Zhao, Yun Ge; Li, Chen Hui; Wang, Shan Shan; Yang, Qiao Yun; Xie, Shen Qi

2017-10-01

The effect of trampling disturbance on soil infiltration of biological soil crusts was investigated by using simulated rainfall. The results showed that the trampling disturbance significantly increased soil surface roughness. The increasing extent depended on the disturbance intensity. Soil surface roughness values at 50% disturbance increased by 91% compared with the undisturbed treatment. The runoff was delayed by trampling disturbance. A linear increase in the time of runoff yield was observed along with the increasing disturbance intensity within 20%-50%. The time of runoff yield at 50% disturbance increased by 169.7% compared with the undisturbed treatment. Trampling disturbance increased soil infiltration and consequently decreased the runoff coefficient. The cumulative infiltration amount at 50% disturbance increased by 12.6% compared with the undisturbed treatment. Soil infiltration significant decreased when biocrusts were removed. The cumulative infiltration of the treatment of biocrusts removal decreased by 30.2% compared with the undisturbed treatment. Trampling disturbance did not significantly increase the soil loss when the distur bance intensity was lower than 50%, while the biocrusts removal resulted in 10 times higher in soil erosion modulus. The trampling disturbance of lower than 50% on biocrusts might improve soil infiltration and reduce the risk of runoff, thus might improve the soil moisture without obviously increa sing the soil loss.

Experimental Test of Entropic Noise-Disturbance Uncertainty Relations for Spin-1/2 Measurements.

Science.gov (United States)

Sulyok, Georg; Sponar, Stephan; Demirel, Bülent; Buscemi, Francesco; Hall, Michael J W; Ozawa, Masanao; Hasegawa, Yuji

2015-07-17

Information-theoretic definitions for noise and disturbance in quantum measurements were given in [Phys. Rev. Lett. 112, 050401 (2014)] and a state-independent noise-disturbance uncertainty relation was obtained. Here, we derive a tight noise-disturbance uncertainty relation for complementary qubit observables and carry out an experimental test. Successive projective measurements on the neutron's spin-1/2 system, together with a correction procedure which reduces the disturbance, are performed. Our experimental results saturate the tight noise-disturbance uncertainty relation for qubits when an optimal correction procedure is applied.

Robust Stability for Nonlinear Systems with Time-Varying Delay and Uncertainties via the H∞ Quasi-Sliding Mode Control

Directory of Open Access Journals (Sweden)

Yi-You Hou

2014-01-01

Full Text Available This paper considers the problem of the robust stability for the nonlinear system with time-varying delay and parameters uncertainties. Based on the H∞ theorem, Lyapunov-Krasovskii theory, and linear matrix inequality (LMI optimization technique, the H∞ quasi-sliding mode controller and switching function are developed such that the nonlinear system is asymptotically stable in the quasi-sliding mode and satisfies the disturbance attenuation (H∞-norm performance. The effectiveness and accuracy of the proposed methods are shown in numerical simulations.

Naturally stable Sagnac-Michelson nonlinear interferometer.

Science.gov (United States)

Lukens, Joseph M; Peters, Nicholas A; Pooser, Raphael C

2016-12-01

Interferometers measure a wide variety of dynamic processes by converting a phase change into an intensity change. Nonlinear interferometers, making use of nonlinear media in lieu of beamsplitters, promise substantial improvement in the quest to reach the ultimate sensitivity limits. Here we demonstrate a new nonlinear interferometer utilizing a single parametric amplifier for mode mixing-conceptually, a nonlinear version of the conventional Michelson interferometer with its arms collapsed together. We observe up to 99.9% interference visibility and find evidence for noise reduction based on phase-sensitive gain. Our configuration utilizes fewer components than previous demonstrations and requires no active stabilization, offering new capabilities for practical nonlinear interferometric-based sensors.

Exact docking flight controller for autonomous aerial refueling with back-stepping based high order sliding mode

Science.gov (United States)

Su, Zikang; Wang, Honglun; Li, Na; Yu, Yue; Wu, Jianfa

2018-02-01

Autonomous aerial refueling (AAR) exact docking control has always been an intractable problem due to the strong nonlinearity, the tight coupling of the 6 DOF aircraft model and the complex disturbances of the multiple environment flows. In this paper, the strongly coupled nonlinear 6 DOF model of the receiver aircraft which considers the multiple flow disturbances is established in the affine nonlinear form to facilitate the nonlinear controller design. The items reflecting the influence of the unknown flow disturbances in the receiver dynamics are taken as the components of the "lumped disturbances" together with the items which have no linear correlation with the virtual control variables. These unmeasurable lumped disturbances are estimated and compensated by a specially designed high order sliding mode observer (HOSMO) with excellent estimation property. With the compensation of the estimated lumped disturbances, a back-stepping high order sliding mode based exact docking flight controller is proposed for AAR in the presence of multiple flow disturbances. Extensive simulation results demonstrate the feasibility and superiority of the proposed docking controller.

Terahertz semiconductor nonlinear optics

DEFF Research Database (Denmark)

Turchinovich, Dmitry; Hvam, Jørn Märcher; Hoffmann, Matthias

2013-01-01

In this proceedings we describe our recent results on semiconductor nonlinear optics, investigated using single-cycle THz pulses. We demonstrate the nonlinear absorption and self-phase modulation of strong-field THz pulses in doped semiconductors, using n-GaAs as a model system. The THz...... nonlinearity in doped semiconductors originates from the near-instantaneous heating of free electrons in the ponderomotive potential created by electric field of the THz pulse, leading to ultrafast increase of electron effective mass by intervalley scattering. Modification of effective mass in turn leads...... to a decrease of plasma frequency in semiconductor and produces a substantial modification of THz-range material dielectric function, described by the Drude model. As a result, the nonlinearity of both absorption coefficient and refractive index of the semiconductor is observed. In particular we demonstrate...

Noise level estimation in weakly nonlinear slowly time-varying systems

International Nuclear Information System (INIS)

Aerts, J R M; Dirckx, J J J; Lataire, J; Pintelon, R

2008-01-01

Recently, a method using multisine excitation was proposed for estimating the frequency response, the nonlinear distortions and the disturbing noise of weakly nonlinear time-invariant systems. This method has been demonstrated on the measurement of nonlinear distortions in the vibration of acoustically driven systems such as a latex membrane, which is a good example of a time-invariant system [1]. However, not all systems are perfectly time invariant, e.g. biomechanical systems. This time variation can be misinterpreted as an elevated noise floor, and the classical noise estimation method gives a wrong result. Two improved methods to retrieve the correct noise information from the measurements are presented. Both of them make use of multisine excitations. First, it is demonstrated that the improved methods give the same result as the classical noise estimation method when applied to a time-invariant system (high-quality microphone membrane). Next, it is demonstrated that the new methods clearly give an improved estimate of the noise level on time-varying systems. As an application example results for the vibration response of an eardrum are shown

Drivers of increased organic carbon concentrations in stream water following forest disturbance: Separating effects of changes in flow pathways and soil warming

Science.gov (United States)

Schelker, J.; Grabs, T.; Bishop, K.; Laudon, H.

2013-12-01

disturbance such as clear-cutting has been identified as an important factor for increasing dissolved organic carbon (DOC) concentrations in boreal streams. We used a long-term data set of soil temperature, soil moisture, shallow groundwater (GW) levels, and stream DOC concentrations from three boreal first-order streams to investigate mechanisms causing these increases. Clear-cutting was found to alter soil conditions with warmer and wetter soils during summer. The application of a riparian flow concentration integration model (RIM) explained a major part of variation in stream [DOC] arising from changing flow pathways in riparian soils during the pretreatment period (r2 = 0.4-0.7), but less well after the harvest. Model residuals were sensitive to changes in soil temperature. The linear regression models for the temperature dependence of [DOC] in soils were not different in the disturbed and undisturbed catchments, whereas a nonlinear response to soil moisture was found. Overall these results suggest that the increased DOC mobilization after forest disturbance is caused by (i) increased GW levels leading to increased water fluxes in shallow flow path in riparian soils and (ii) increased soil temperature increasing the DOC availability in soils during summer. These relationships indicate that the mechanisms of DOC mobilization after forest disturbance are not different to those of undisturbed catchments, but that catchment soils respond to the higher hydro-climatic variation observed after clear-cutting. This highlights the sensitivity of boreal streams to changes in the energy and water balance, which may be altered as a result of both land management and climate change.

Nonlinear evolution of MHD instabilities

International Nuclear Information System (INIS)

Bateman, G.; Hicks, H.R.; Wooten, J.W.; Dory, R.A.

1975-01-01

A 3-D nonlinear MHD computer code was used to study the time evolution of internal instabilities. Velocity vortex cells are observed to persist into the nonlinear evolution. Pressure and density profiles convect around these cells for a weak localized instability, or convect into the wall for a strong instability. (U.S.)

Tracking heliospheric disturbances by interplanetary scintillation

Directory of Open Access Journals (Sweden)

M. Tokumaru

2006-01-01

Full Text Available Coronal mass ejections are known as a solar cause of significant geospace disturbances, and a fuller elucidation of their physical properties and propagation dynamics is needed for space weather predictions. The scintillation of cosmic radio sources caused by turbulence in the solar wind (interplanetary scintillation; IPS serves as an effective ground-based method for monitoring disturbances in the heliosphere. We studied global properties of transient solar wind streams driven by CMEs using 327-MHz IPS observations of the Solar-Terrestrial Environment Laboratory (STEL of Nagoya University. In this study, we reconstructed three-dimensional features of the interplanetary (IP counterpart of the CME from the IPS data by applying the model fitting technique. As a result, loop-shaped density enhancements were deduced for some CME events, whereas shell-shaped high-density regions were observed for the other events. In addition, CME speeds were found to evolve significantly during the propagation between the corona and 1 AU.

Generalized solutions of nonlinear partial differential equations

CERN Document Server

Rosinger, EE

1987-01-01

During the last few years, several fairly systematic nonlinear theories of generalized solutions of rather arbitrary nonlinear partial differential equations have emerged. The aim of this volume is to offer the reader a sufficiently detailed introduction to two of these recent nonlinear theories which have so far contributed most to the study of generalized solutions of nonlinear partial differential equations, bringing the reader to the level of ongoing research.The essence of the two nonlinear theories presented in this volume is the observation that much of the mathematics concernin

Effects of climate change on ecological disturbance in the northern Rockies

Science.gov (United States)

Loehman, Rachel A.; Bentz, Barbara J.; DeNitto, Gregg A.; Keane, Robert E.; Manning, Mary E.; Duncan, Jacob P.; Egan, Joel M.; Jackson, Marcus B.; Kegley, Sandra; Lockman, I. Blakey; Pearson, Dean E.; Powell, James A.; Shelly, Steve; Steed, Brytten E.; Zambino, Paul J.; Halofsky, Jessica E.; Peterson, David L.

2018-01-01

Disturbances alter ecosystem, community, or population structure and change elements of the biological and/or physical environment. Climate changes can alter the timing, magnitude, frequency, and duration of disturbance events, as well as the interactions of disturbances on a landscape, and climate change may already be affecting disturbance events and regimes. Interactions among disturbance regimes, such as the cooccurrence in space and time of bark beetle outbreaks and wildfires, can result in highly visible, rapidly occurring, and persistent changes in landscape composition and structure. Understanding how altered disturbance patterns and multiple disturbance interactions might result in novel and emergent landscape behaviors is critical for addressing climate change impacts and for designing land management strategies that are appropriate for future climates This chapter describes the ecology of important disturbance regimes in the Northern Rockies region, and potential shifts in these regimes as a consequence of observed and projected climate change. We summarize five disturbance types present in the Northern Rockies that are sensitive to a changing climate--wildfires, bark beetles, white pine blister rust (Cronartium ribicola), other forest diseases, and nonnative plant invasions—and provide information that can help managers anticipate how, when, where, and why climate changes may alter the characteristics of disturbance regimes.

Biased representation of disturbance rates in the roadside sampling frame in boreal forests: implications for monitoring design

Directory of Open Access Journals (Sweden)

Steven L. Van Wilgenburg

2015-12-01

Full Text Available The North American Breeding Bird Survey (BBS is the principal source of data to inform researchers about the status of and trend for boreal forest birds. Unfortunately, little BBS coverage is available in the boreal forest, where increasing concern over the status of species breeding there has increased interest in northward expansion of the BBS. However, high disturbance rates in the boreal forest may complicate roadside monitoring. If the roadside sampling frame does not capture variation in disturbance rates because of either road placement or the use of roads for resource extraction, biased trend estimates might result. In this study, we examined roadside bias in the proportional representation of habitat disturbance via spatial data on forest "loss," forest fires, and anthropogenic disturbance. In each of 455 BBS routes, the area disturbed within multiple buffers away from the road was calculated and compared against the area disturbed in degree blocks and BBS strata. We found a nonlinear relationship between bias and distance from the road, suggesting forest loss and forest fires were underrepresented below 75 and 100 m, respectively. In contrast, anthropogenic disturbance was overrepresented at distances below 500 m and underrepresented thereafter. After accounting for distance from road, BBS routes were reasonably representative of the degree blocks they were within, with only a few strata showing biased representation. In general, anthropogenic disturbance is overrepresented in southern strata, and forest fires are underrepresented in almost all strata. Similar biases exist when comparing the entire road network and the subset sampled by BBS routes against the amount of disturbance within BBS strata; however, the magnitude of biases differed. Based on our results, we recommend that spatial stratification and rotating panel designs be used to spread limited BBS and off-road sampling effort in an unbiased fashion and that new BBS routes

DISCOVERY OF UBIQUITOUS FAST-PROPAGATING INTENSITY DISTURBANCES BY THE CHROMOSPHERIC LYMAN ALPHA SPECTROPOLARIMETER (CLASP)

Energy Technology Data Exchange (ETDEWEB)

Kubo, M.; Katsukawa, Y.; Suematsu, Y.; Kano, R.; Bando, T.; Narukage, N.; Ishikawa, R.; Hara, H.; Giono, G. [National Astronomical Observatory of Japan, National Institutes of Natural Sciences, 2-21-1 Osawa, Mitaka, Tokyo 181-8588 (Japan); Tsuneta, S.; Ishikawa, S.; Shimizu, T.; Sakao, T. [Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency, 3-1-1 Yoshinodai, Chuo-ku, Sagamihara, Kanagawa 252-5210 (Japan); Winebarger, A.; Kobayashi, K.; Cirtain, J. [NASA Marshall Space Flight Center, ZP 13, Huntsville, AL 35812 (United States); Champey, P. [University of Alabama in Huntsville, 301 Sparkman Drive, Huntsville, AL 35899 (United States); Auchère, F. [Institut d’Astrophysique Spatiale, CNRS/Univ. Paris-Sud 11, Bâtiment 121, F-91405 Orsay (France); Bueno, J. Trujillo; Ramos, A. Asensio, E-mail: masahito.kubo@nao.ac.jp [Instituto de Astrofísica de Canarias, E-38205 La Laguna, Tenerife (Spain); and others

2016-12-01

High-cadence observations by the slit-jaw (SJ) optics system of the sounding rocket experiment known as the Chromospheric Lyman Alpha Spectropolarimeter (CLASP) reveal ubiquitous intensity disturbances that recurrently propagate in either the chromosphere or the transition region or both at a speed much higher than the speed of sound. The CLASP/SJ instrument provides a time series of two-dimensional images taken with broadband filters centered on the Ly α line at a 0.6 s cadence. The multiple fast-propagating intensity disturbances appear in the quiet Sun and in an active region, and they are clearly detected in at least 20 areas in a field of view of 527″ × 527″ during the 5 minute observing time. The apparent speeds of the intensity disturbances range from 150 to 350 km s{sup −1}, and they are comparable to the local Alfvén speed in the transition region. The intensity disturbances tend to propagate along bright elongated structures away from areas with strong photospheric magnetic fields. This suggests that the observed fast-propagating intensity disturbances are related to the magnetic canopy structures. The maximum distance traveled by the intensity disturbances is about 10″, and the widths are a few arcseconds, which are almost determined by a pixel size of 1.″03. The timescale of each intensity pulse is shorter than 30 s. One possible explanation for the fast-propagating intensity disturbances observed by CLASP is magnetohydrodynamic fast-mode waves.

State-independent error-disturbance trade-off for measurement operators

International Nuclear Information System (INIS)

Zhou, S.S.; Wu, Shengjun; Chau, H.F.

2016-01-01

In general, classical measurement statistics of a quantum measurement is disturbed by performing an additional incompatible quantum measurement beforehand. Using this observation, we introduce a state-independent definition of disturbance by relating it to the distinguishability problem between two classical statistical distributions – one resulting from a single quantum measurement and the other from a succession of two quantum measurements. Interestingly, we find an error-disturbance trade-off relation for any measurements in two-dimensional Hilbert space and for measurements with mutually unbiased bases in any finite-dimensional Hilbert space. This relation shows that error should be reduced to zero in order to minimize the sum of error and disturbance. We conjecture that a similar trade-off relation with a slightly relaxed definition of error can be generalized to any measurements in an arbitrary finite-dimensional Hilbert space.

Percolation-enhanced nonlinear scattering from semicontinuous metal films

Science.gov (United States)

Breit, M.; von Plessen, G.; Feldmann, J.; Podolskiy, V. A.; Sarychev, A. K.; Shalaev, V. M.; Gresillon, S.; Rivoal, J. C.; Gadenne, P.

2001-03-01

Strongly enhanced second-harmonic generation (SHG), which is characterized by nearly isotropic distribution, is observed for gold-glass films near the percolation threshold. The diffuse-like SHG scattering, which can be thought of as nonlinear critical opalescence, is in sharp contrast with highly collimated linear reflection and transmission from these nanostructured semicontinuous metal films. Our observations, which can be explained by giant fluctuations of local nonlinear sources for SHG, verify recent predictions of percolation-enhanced nonlinear scattering.

Robust Backstepping Control for Cold Rolling Main Drive System with Nonlinear Uncertainties

Directory of Open Access Journals (Sweden)

Xu Yang

2013-01-01

Full Text Available The nonlinear model of main drive system in cold rolling process, which considers the influence with parameter uncertainties such as clearance and variable friction coefficient, as well as external disturbance by roll eccentricity and variation of strip material quality, is built. By transformation, the lower triangular structure form of main drive system is obtained. The backstepping algorithm based on signal compensation is proposed to design a linear time-invariant (LTI robust controller, including a nominal controller and a robust compensator. A comparison with PI controller shows that the controller has better disturbance attenuation performance and tracking behaviors. Meanwhile, according to its LTI characteristic, the robust controller can be realized easily; therefore it is also appropriated to high speed dynamic rolling process.

A Delta Operator Approach for the Discrete-Time Active Disturbance Rejection Control on Induction Motors

Directory of Open Access Journals (Sweden)

John Cortés-Romero

2013-01-01

Full Text Available The problem of active disturbance rejection control of induction motors is tackled by means of a generalized PI observer based discrete-time control, using the delta operator approach as the methodology of analyzing the sampled time process. In this scheme, model uncertainties and external disturbances are included in a general additive disturbance input which is to be online estimated and subsequently rejected via the controller actions. The observer carries out the disturbance estimation, thus reducing the complexity of the controller design. The controller efficiency is tested via some experimental results, performing a trajectory tracking task under load variations.

Scaling disturbance instead of richness to better understand anthropogenic impacts on biodiversity.

Directory of Open Access Journals (Sweden)

Stephen J Mayor

Full Text Available A primary impediment to understanding how species diversity and anthropogenic disturbance are related is that both diversity and disturbance can depend on the scales at which they are sampled. While the scale dependence of diversity estimation has received substantial attention, the scale dependence of disturbance estimation has been essentially overlooked. Here, we break from conventional examination of the diversity-disturbance relationship by holding the area over which species richness is estimated constant and instead manipulating the area over which human disturbance is measured. In the boreal forest ecoregion of Alberta, Canada, we test the dependence of species richness on disturbance scale, the scale-dependence of the intermediate disturbance hypothesis, and the consistency of these patterns in native versus exotic species and among human disturbance types. We related field observed species richness in 1 ha surveys of 372 boreal vascular plant communities to remotely sensed measures of human disturbance extent at two survey scales: local (1 ha and landscape (18 km2. Supporting the intermediate disturbance hypothesis, species richness-disturbance relationships were quadratic at both local and landscape scales of disturbance measurement. This suggests the shape of richness-disturbance relationships is independent of the scale at which disturbance is assessed, despite that local diversity is influenced by disturbance at different scales by different mechanisms, such as direct removal of individuals (local or indirect alteration of propagule supply (landscape. By contrast, predictions of species richness did depend on scale of disturbance measurement: with high local disturbance richness was double that under high landscape disturbance.

Empirical Differential Balancing for Nonlinear Systems

NARCIS (Netherlands)

Kawano, Yu; Scherpen, Jacquelien M.A.; Dochain, Denis; Henrion, Didier; Peaucelle, Dimitri

In this paper, we consider empirical balancing of nonlinear systems by using its prolonged system, which consists of the original nonlinear system and its variational system. For the prolonged system, we define differential reachability and observability Gramians, which are matrix valued functions

Nonlinear dynamics aspects of particle accelerators

International Nuclear Information System (INIS)

Jowett, J.M.; Turner, S.; Month, M.

1986-01-01

These proceedings contain the lectures presented at the named winter school. They deal with the application of dynamical systems to accelerator theory. Especially considered are the statistical description of charged-beam plasmas, integrable and nonintegrable Hamiltonian systems, single particle dynamics and nonlinear resonances in circular accelerators, nonlinear dynamics aspects of modern storage rings, nonlinear beam-beam resonances, synchro-betatron resonances, observations of the beam-beam interactions, the dynamics of the beam-beam interactions, beam-beam simulations, the perturbation method in nonlinear dynamics, theories of statistical equilibrium in electron-positron storage rings, nonlinear dissipative phenomena in electron storage rings, the dynamical aperture, the transition to chaos for area-preserving maps, special processors for particle tracking, algorithms for tracking of charged particles in circular accelerators, the breakdown of stability, and a personal perspective of nonlinear dynamics. (HSI)

Nonlinear Dynamics in Spear Wigglers

International Nuclear Information System (INIS)

2002-01-01

BL11, the most recently installed wiggler in the SPEAR storage ring at SSRL, produces a large nonlinear perturbation of the electron beam dynamics, which was not directly evident in the integrated magnetic field measurements. Measurements of tune shifts with betatron oscillation amplitude and with closed orbit shifts were used to characterize the nonlinear fields of the SPEAR insertion devices (IDs). Because of the narrow pole width in BL11, the nonlinear fields seen along the wiggling electron trajectory are dramatically different than the flip coil measurements made along a straight line. This difference explains the tune shift measurements and the observed degradation in dynamic aperture. Corrector magnets to cancel the BL11 nonlinear fields are presently under construction

Nonlinear Tracking Control of a Conductive Supercoiled Polymer Actuator.

Science.gov (United States)

Luong, Tuan Anh; Cho, Kyeong Ho; Song, Min Geun; Koo, Ja Choon; Choi, Hyouk Ryeol; Moon, Hyungpil

2018-04-01

Artificial muscle actuators made from commercial nylon fishing lines have been recently introduced and shown as a new type of actuator with high performance. However, the actuators also exhibit significant nonlinearities, which make them difficult to control, especially in precise trajectory-tracking applications. In this article, we present a nonlinear mathematical model of a conductive supercoiled polymer (SCP) actuator driven by Joule heating for model-based feedback controls. Our efforts include modeling of the hysteresis behavior of the actuator. Based on nonlinear modeling, we design a sliding mode controller for SCP actuator-driven manipulators. The system with proposed control law is proven to be asymptotically stable using the Lyapunov theory. The control performance of the proposed method is evaluated experimentally and compared with that of a proportional-integral-derivative (PID) controller through one-degree-of-freedom SCP actuator-driven manipulators. Experimental results show that the proposed controller's performance is superior to that of a PID controller, such as the tracking errors are nearly 10 times smaller compared with those of a PID controller, and it is more robust to external disturbances such as sensor noise and actuator modeling error.