Abstract
This work investigates a functional estimation problem for single input single output linear and nonlinear systems, motivated by its enabling role in acceleration-based semi-active control. Solvability of a linear functional estimation problem is studied from a geometric approach, where the functional dynamics are derived, decomposed, and transformed to expose structural properties. This approach is extended to solve a challenging nonlinear functional observer problem, combining with the exact error linearization. Existence conditions of nonlinear functional observers are established. Simulation verifies existence conditions and demonstrates the effectiveness of the proposed functional observer designs.
Zusammenfassung
Wir untersuchen ein Problem der funktionalen Schätzung für lineare und nicht-lineare Systeme mit einem Eingang und Ausgang, das durch die Anwendung beschleunigungsbasierter semiaktiver Steuerungen motiviert wird. Die Lösbarkeit eines linearen funktionalen Schätzungsproblems wird geometrisch angegangen, wobei die funktionale Dynamik hergeleitet, zerlegt und transformiert wird, um strukturelle Eigenschaften herauszuarbeiten. Diese Vorgehensweise wird erweitert, um ein schwieriges nichtlineares funktionales Schätzungsproblem zu lösen, kombiniert mit einer exakten Fehlerlinearisierung. Existenzbedingungen für nichtlineare funktionale Beobachter werden formuliert. Eine Simulation verifiziert die Existenzbedingungen und demonstriert die Effektivität der vorgeschlagenen Entwürfe funktionaler Beobachter.
About the authors
Yebin Wang received the B. Eng. degree in Mechatronics Engineering from Zhejiang University, Hangzhou, China, in 1997, M.Eng. degree in Control Theory & Control Engineering from Tsinghua University, Beijing, China, in 2001, and Ph.D. in Electrical Engineering from the University of Alberta, Edmonton, Canada, in 2008. Dr. Wang has been with Mitsubishi Electric Research Laboratories in Cambridge, MA, USA, since 2009, and now is a Senior Principal Research Scientist. From 2001 to 2003 he was a Software Engineer, Project Manager, and Manager of R&D Dept. in industries, Beijing, China. His research interests include nonlinear control and estimation, optimal control, adaptive systems and their applications including mechatronic systems.
Kenji Utsunomiya joined Mitsubishi Electric Corp. in 1997, and received Doctoral degree in Mechanical Engineering from Kyoto University in 2015. He is currently a Manager of Mechatronics Department Multi-body Dynamics Group.
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