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EXTREMUM SEEKING BASED FAULT ESTIMATION FOR OUTPUT FEEDBACK CONTROL OF FLEXIBLE-JOINT ROBOT MANIPULATOR

Selami BEYHAN
2021 Selcuk University Journal of Engineering Science and Technology  
First, using the approximate nonlinear robot model, a extremum seeking controller is designed to minimize the tracking error via output feedback.  ...  In this paper, an extremum seeking fault estimation based output feedback controller is proposed for the control of flexible-joint robot manipulator.  ...  The designed fault tolerant controller can be successfully used for also highly nonlinear systems when an accurate system model exists.  ... 
doi:10.36306/konjes.760789 fatcat:exybr55qsvec7pdcr77slsqxie

Asymptotic convergence through Lyapunov-based switching in extremum seeking with application to photovoltaic systems

Scott J Moura, Yiyao A Chang
2010 Proceedings of the 2010 American Control Conference  
This paper presents a practical extension to extremum seeking control systems which guarantees asymptotic convergence through a Lyapunov-based switching scheme.  ...  In contrast, traditional extremum seeking methods enter a limit cycle around the optimal set-point, once identified.  ...  Ian Hiskens at the University of Michigan, Ann Arbor for his advice, helpful discussions, and Winter 2009 course "Grid Integration of Alternative Energy Sources," which served as the inspiration for this  ... 
doi:10.1109/acc.2010.5530764 fatcat:67fmvdiih5b3dh6v466unygpii

Extremum seeking control for soft landing of an electromechanical valve actuator

Katherine S. Peterson, Anna G. Stefanopoulou
2004 Automatica  
This paper presents an extremum seeking controller designed to reduce the magnitude of these impacts.  ...  The control strategy is implemented with an eddy current sensor, to measure the valve position, and a microphone.  ...  Nonlinear feedback The controller consists of two di erent components: nonlinear feedback, discussed in this section, and an extremum seeking controller for self-tuning, discussed in Section 5.  ... 
doi:10.1016/j.automatica.2004.01.027 fatcat:qfwkgq2cjrdktaplhz4qgumm2e

Page 5907 of Mathematical Reviews Vol. , Issue 2004g [page]

2004 Mathematical Reviews  
Summary: “Extremum-seeking (also peak-seeking) controllers are designed to operate at an a priori unknown set-point that extrem- izes the value of a performance function.  ...  These parameters are estimated on-line and the extremum seeking controller operates based on these estimated values.  ... 

An Extremum-Seeking Co-Simulation Based Framework for Passivation Theory and its Application in Adaptive Cruise Control Systems [article]

Arash Rahnama, Meng Xia, Shige Wang, Panos J. Antsaklis
2016 arXiv   pre-print
In this work, an extremum-seeking algorithm was used to determine the passivation parameters. It is known that systems with input-output time-delays are not passive.  ...  In this report, we apply an input-output transformation passivation method, described in our previous works, to an Adaptive Cruise Control system.  ...  Cruise Control and Extremum Seeking Control Design for one parameter. (b) Adaptive Cruise Control and Extremum Seeking Control Design for four parameters.  ... 
arXiv:1607.03958v1 fatcat:achgri53jjg2rj5en2zqxt6vfi

Extremum Seeking Control of an Optical Cavity

S. Z. Sayed Hassen, I.R. Petersen
2014 IFAC Proceedings Volumes  
In this paper, we model the non-linearities arising in such an optical system and propose an extremum seeking controller to frequency lock the optical cavity.  ...  An optical cavity is however a highly nonlinear system and problems arise when it is affected by large disturbances.  ...  Under such circumstances, we can use linear control design techniques to control the system; see Sayed Hassen et al. [2009] .  ... 
doi:10.3182/20140824-6-za-1003.01198 fatcat:zrb6jiptxjhibkn6tgju36m47m

Adaptive Extremum Seeking Control of Urban Area Wind Turbines

Felix Dietrich, Steffen Borchers-Tigasson, Till Naumann, Horst Schulte
2021 Energies  
To this end, a comprehensive aero-electromechanical model of the wind turbine under study including basic control is formulated. Next, the extremum seeking control scheme is adapted to the system.  ...  For this purpose, an adaptive control approach that is fast and robust is required.  ...  In [12] , the sliding mode extremum seeking approach was generalized to nonlinear systems.  ... 
doi:10.3390/en14051356 doaj:9de03f33b7bc4bb9be4d07191675ef36 fatcat:vmdq7nz5cfgadiijl5qxpcp7za

A Framework for Extremum Seeking Control of Systems With Parameter Uncertainties

Dragan Nesic, Alireza Mohammadi, Chris Manzie
2013 IEEE Transactions on Automatic Control  
This paper seeks to provide general results and a framework for the design of extremum seekers applied to systems with parameter uncertainties.  ...  Traditionally, the design of extremum seeking algorithm treats the system as essentially a black-box, which for many applications means disregarding known information about the model structure.  ...  There are several main methods for design of extremum seeking controllers.  ... 
doi:10.1109/tac.2012.2215270 fatcat:4gssmbnqn5fhtd33i6zdpy6boi

Air flow control in fuel cell systems: An extremum seeking approach

Yiyao A. Chang, Scott J. Moura
2009 2009 American Control Conference  
However, our extremum seeking approach is extendible to a general class of nonlinear dynamic systems, including fuel cell systems with alternative electrolytes.  ...  The extremum seeking control approach ensures the fuel cell system operates at peak performance under all operating conditions.  ...  Extremum Seeking Control Architecture To maximize net fuel cell system power, we employ a simple yet widely studied extremum seeking (ES) scheme [13] - [17] for static nonlinear maps, shown in Fig.  ... 
doi:10.1109/acc.2009.5160016 dblp:conf/amcc/ChangM09 fatcat:itj2sj5zn5e3bnpk4s7yrvvzre

Model-Free Extremum Seeking Control of Bioprocesses: A Review with a Worked Example

Laurent Dewasme, Alain Vande Wouwer
2020 Processes  
Uncertainty is a common feature of biological systems, and model-free extremum-seeking control has proved a relevant approach to avoid the typical problems related to model-based optimization, e.g., time  ...  In this article, a review of the past and current trends in model-free extremum seeking is proposed with an emphasis on finding optimal operating conditions of bioprocesses.  ...  input (u = D); then an extremum seeking control law is proposed to drive and stabilize the system in the neighborhood of y * = f (µ * ).  ... 
doi:10.3390/pr8101209 fatcat:q4d5wcdt25ggdn6mhejjizpz64

Extremum-Seeking Control for the Adaptive Design of Variable Gain Controllers

Bram Hunnekens, Antonio Di Dino, Nathan van de Wouw, Niels van Dijk, Henk Nijmeijer
2015 IEEE Transactions on Control Systems Technology  
In this paper, we experimentally demonstrate an extremum-seeking control strategy for nonlinear systems with periodic steady-state outputs, for the adaptive design of variablegain controllers.  ...  The extremum-seeking controller only utilizes output measurements of the plant, and can therefore be used to optimally design the parameters of the variable gain controller, without using direct information  ...  Here, we will not employ such an iterative approach, but we will use an alternative adaptive approach based on the extremum-seeking technique for periodic steady-states, which does not use any plant model  ... 
doi:10.1109/tcst.2014.2360913 fatcat:qiwjhws6nzcypdithwqk6zkngm

Extremum seeking for moderately unstable systems and for autonomous vehicle target tracking without position measurements

Chunlei Zhang, Antranik Siranosian, Miroslav Krstić
2007 Automatica  
An application of the result for single and double integrators is in control of autonomous vehicles.  ...  We remove the long standing restriction that plant dynamics in extremum seeking control must be stable and provide an extension that allows single integrators, double integrators, and moderately unstable  ...  Fig. 7 . 7 Extremum seeking for unstable poles, stationary case. (a) Output; (b) vehicle trajectory starts from (0,0); (c) control input of x-axis; (d) control input of y-axis.  ... 
doi:10.1016/j.automatica.2007.03.009 fatcat:uv4dlx4brnhn3azsqs6kmg6opa

Robustness Analysis of Induction Generator based Variable Speed Wind Power Plant with Power Optimization Capability

2019 International Journal of Engineering and Advanced Technology  
We have employed a non-linear controller to improve the performance of extremum seeking (ES) scheme applied to wind power plant for power optimization.  ...  The aim of this paper is to design a robust controller for power optimization, which is insensitive to the uncertainties in system parameters.  ...  Now we present the extremum seeking technique for WECS, which is a real time optimization technique and unlike conventional MPPT algorithms it does not require system modeling and identification.  ... 
doi:10.35940/ijeat.b2888.129219 fatcat:2sliwjn6hndt7iiyl33nywiioe

Lyapunov-based switched extremum seeking for photovoltaic power maximization

Scott J. Moura, Yiyao A. Chang
2013 Control Engineering Practice  
Lyap-ES converges to the optimum by exponentially decaying the perturbation signal once the system enters a neighborhood around the extremum.  ...  This paper presents a practical variation of extremum seeking (ES) that guarantees asymptotic convergence through a Lyapunov-based switching scheme (Lyap-ES).  ...  Extremum Seeking Control Theory Prior to the nonlinear and adaptive control theory developments in the 1970's and 1980's, extremum seeking was proposed as a method for identifying the optimum of an equilibrium  ... 
doi:10.1016/j.conengprac.2013.02.009 fatcat:dehau67txrdmzmxswscs7txley

ON NON-LOCAL STABILITY PROPERTIES OF EXTREMUM SEEKING CONTROL

Y. Tan, D. Nešić, I.M.Y. Mareels
2005 IFAC Proceedings Volumes  
Hence, the control designer faces a tradeoff between the size of the domain of attraction and the speed of convergence when tuning the extremum seeking controller.  ...  This non-local convergence result is proved by showing semi-global practical stability of the closed-loop system with respect to the design parameters.  ...  Remark 6: Note that a, δ and ω in extremum seeking design are usually small when given a larger domain of attraction, there is an obvious tradeoff in the design of an extremum seeking controller.  ... 
doi:10.3182/20050703-6-cz-1902.00747 fatcat:3ywwltfdpjdhziycmhklw4lsly
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