Principalement, ce travail présente l’application d’observateurs non linéairespour la détection de fuites (uniques, séquentielles et simultanées) dans des canalisationssous pression. Les observateurs présentés ici ont été conçus à partir d’uneversion discrète des équations du coup de bélier, qui a été obtenue en utilisant laméthode des différences finies et en prenant comme alternative la méthode de collocationorthogonale. Les modèles discrets ainsi que certains observateurs ont étévalidés par une série d’expériences effectuées dans des canalisations d’essai. D’autrepart, une nouvelle version d’observateurs à grand gain pour des systèmes non uniformémentobservables a été développée. Elle a été utilisée pour la détection de fuitesainsi que pour la synchronisation de systèmes chaotiques avec des paramètres inconnus.Des résultats de convergence, expérimentaux et en simulation sont exposésdans ce mémoire. / This work mainly deals with the application of nonlinear observers for the detectionof leaks (single, sequential and simultaneous) in pipes under pressure. Theproposed observers were conceived from a spatially discretized version of the waterhammer equations. This version was obtained using the finite difference method ,as an alternative to the orthogonal collocation method also considered. The discretemodels, as well as some observers were validated by a set of experiments realizedin test pipes. This work also gave rise to a new version of high gain observers fornon-uniformly observable systems. Firstly used for the purpose of leak detection,it was successfully applied to the synchronization of chaotic systems with unknownparameters as well. Its presentation includes a formal convergence proof, as well assimulation and experimental results. / Este trabajo trata principalmente la aplicación de observadores no lineales parala detección de fugas (únicas, secuenciales y simultaneas) en tuberías bajo presión.Los observadores que aquí se presentan fueron concebidos a partir de una versióndiscreta (espacialmente) de las ecuaciones del golpe de ariete. Tal versión se logróutilizando el método de diferencias finitas, y como alternativa el método decolocación ortogonal. Los modelos discretos, así como ciertos observadores, fueronvalidados mediante una serie de experimentos realizados en tuberías de ensayo.Este trabajo también dio origen a una nueva versión de observadores de granganancia para sistemas no uniformemente observables, la cual se utilizó para ladetección de fugas, así como para la sincronización de sistemas caóticos con parámetrosdesconocidos. Su presentación incluye resultados de convergencia formales,en simulación, y experimentales.

Made available in DSpace on 2018-07-27T17:13:44Z (GMT). No. of bitstreams: 0 Previous issue date: 2014-06-02. Added 1 bitstream(s) on 2018-07-27T17:16:26Z : No. of bitstreams: 1 000888006.pdf: 4113638 bytes, checksum: 7791703042b32cfb18d6779d92b26fb7 (MD5) / O aumento da competitividade entre as empresas têm exigido maiores velocidades de operação e períodos menores de manutenção dos equipamentos, por esse motivo é de suma importância poder estender a vida útil dos equipamentos por meio da predição das possíveis falhas. O objetivo deste projeto é desenvolver uma metodologia que possibilite predizer falhas em componentes de sistemas rotativos. Na simulação numérica os danos são identificadas através da variação no valor RMS do sinal de velocidade do sistema, e a quantificação do dano e feita a partir da minimização da norma do erro entre dados do observador robusto e medidos. Um redutor de engrenagens é projetado a fim de validar o método, foi construído o modelo e identificados os parâmetros desconhecidos, com a utilização dos observadores de estado todos os graus de liberdade foram estimados, e um banco de valores RMS foi desenvolvido para servir de base de comparação. A inclusão de um dano no sistema, através dos valores base, foi possível identificar o dano e com o uso do observador robusto quantificar e localizar o dano no sistema mesmo na presença de ruídos / The increased competition among companies have demanded higher operating speeds and shorter periods of maintenance of equipment, for this reason it is extremely important to be able to extend equipment life through the prediction of potential failures . The objective of this project is to develop a methodology that enables to predict component failures of rotating systems. In numerical simulation, failures are identified by varying the RMS value of the velocity signal system, and quantification of failure made from the minimization of the norm the error between the data measured and robust observer. A gear reducer is designed to validate the method, the model was constructed and identified the unknown parameters, with the use of state observers the degrees of freedom were estimated, and a database RMS values, without fail, was developed to serve as a basis for comparison. With the inclusion of damage to the system through the base values, it was possible to identify the damage and the use of robust observer to quantify and locate the damage in the system even in the presence of noise

Made available in DSpace on 2014-06-11T19:22:35Z (GMT). No. of bitstreams: 0 Previous issue date: 2006-08-29Bitstream added on 2014-06-13T19:48:58Z : No. of bitstreams: 1 jacomeli_jr_me_ilha.pdf: 1801701 bytes, checksum: 7e0a2edc93d23563d2882556d106d710 (MD5) / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / Devido ao grande crescimento em tamanho e complexidade dos sistemas de potência interconectados, surge a necessidade de se desenvolver novas técnicas de controle de geração. Eram usados modelos simplificados para a análise, assim como outras abordagens. Atualmente, novas modelagens levam em conta muitos outros parâmetros que antes não eram utilizados, aproximando cada vez mais a planta modelada com a planta real. Grandes esforços têm sido feitos no controle automático da geração de sistemas de potência interconectados. Para tanto, foram utilizados neste trabalho um observador com modo deslizante e leis de controle com modo deslizante analógica e controle com modo deslizante digital para análise de desempenho do controle de geração, utilizando a planta de um sistema com geração térmica e geração hidráulica interconectados. / Due to the great growth in size and complexity of the interconnected power systems, it appears of developing of new techniques of generation control. Simplified models were used for the analysis, as well as for other approaches. Nowadays, new modellings take into account many other parameters that before were not considered, approximating the modeled plant with the real plant. Great efforts have been made in the automatic generation control of the interconnected power systems. In this work an observer with sliding mode and control laws with analogical sliding mode and control with digital sliding mode, with the plant of an interconnected system with thermal generation and hydraulic generation, were proposed and analyzed.

Orientador: Celso Pascoli Bottura / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação / Made available in DSpace on 2018-08-11T19:05:49Z (GMT). No. of bitstreams: 1 Berci_CesarDaltoe_M.pdf: 9710523 bytes, checksum: e7e285b64dda07549cdde9aff2080573 (MD5) Previous issue date: 2008 / Resumo: O problema de se observar o estado do sistema nasce da necessidade de se controlar plantas cujo estado não se pode medir. Convencionalmente são utilizados observadores baseados em modelos dinâmicos para resolver esse problema, através da construção de estimativas do estado desconhecido. Nesta tese, é abordada uma solução alternativa para este problema. Várias propostas de observadores inteligentes, são realizadas com base em mapeamentos entre subespaços gerados pelas equações que regem a dinâmica não linear do sistema, utilizando várias técnicas de inteligência computacional, capazes de apresentar estimativas do estado do sistema dinâmico através de observadores que não apresentam um comportamento dinâmico com relação ao tempo. / Abstract: The state observer problem arises from the necessity of controlling plants whose state can not be measured. Usually dynamic model based observers are used to solve this problem, for estimating unknown state. In this thesis an alternative solution for this problem is presented. Various proposals for intelligent observers are made based on mappings between subspaces generated by the equations describing the nonlinear dynamics of the system, using various computational intelligence techniques able to present state estimates for the dynamic system through nonlinear observers that do not exhibit a dynamic behavior with respect to time. / Mestrado / Automação / Mestre em Engenharia Elétrica

The science of behavior analysis relies heavily on direct observation. Human observers are typically used to measure behavior in applied settings. Although the use of human observers is beneficial in many regards, it also presents challenges. Of primary concern is the extent to which the data generated by observers actually corresponds to the behavioral events of interest, and the implications this may have in terms of replication. This study assessed the effects that labels, definitions, and examples and non-examples of two different modalities had on observer accuracy, consistency, and agreement. Results showed that current practices in observer training may require refinement to ensure high observer accuracy, consistency, and agreement. Suggestions for how to improve the desired stimulus control of observers are provided.

Orientador: Gilberto Pechoto de Melo / Banca: Vicente Lopes Junior / Banca: Kátia Luchese Cavalca Dedini / Resumo: O aumento da competitividade entre as empresas têm exigido maiores velocidades de operação e períodos menores de manutenção dos equipamentos, por esse motivo é de suma importância poder estender a vida útil dos equipamentos por meio da predição das possíveis falhas. O objetivo deste projeto é desenvolver uma metodologia que possibilite predizer falhas em componentes de sistemas rotativos. Na simulação numérica os danos são identificadas através da variação no valor RMS do sinal de velocidade do sistema, e a quantificação do dano e feita a partir da minimização da norma do erro entre dados do observador robusto e medidos. Um redutor de engrenagens é projetado a fim de validar o método, foi construído o modelo e identificados os parâmetros desconhecidos, com a utilização dos observadores de estado todos os graus de liberdade foram estimados, e um banco de valores RMS foi desenvolvido para servir de base de comparação. A inclusão de um dano no sistema, através dos valores base, foi possível identificar o dano e com o uso do observador robusto quantificar e localizar o dano no sistema mesmo na presença de ruídos / Abstract: The increased competition among companies have demanded higher operating speeds and shorter periods of maintenance of equipment, for this reason it is extremely important to be able to extend equipment life through the prediction of potential failures . The objective of this project is to develop a methodology that enables to predict component failures of rotating systems. In numerical simulation, failures are identified by varying the RMS value of the velocity signal system, and quantification of failure made from the minimization of the norm the error between the data measured and robust observer. A gear reducer is designed to validate the method, the model was constructed and identified the unknown parameters, with the use of state observers the degrees of freedom were estimated, and a database RMS values, without fail, was developed to serve as a basis for comparison. With the inclusion of damage to the system through the base values, it was possible to identify the damage and the use of robust observer to quantify and locate the damage in the system even in the presence of noise / Mestre

<div>Cyber-Physical Systems (CPSs) consist of physical and computational components usually interconnected through the internet. This type of systems have found applications in robotic surgery, smart medical services, driverless cars, smart power grids as well as in modern homes and offices. For a CPS to function properly, a reliable and secure communications between the system physical and cyber elements is of utmost importance. Malicious attacks during control signals and output measurements transmission between the physical plant and the control center must be addressed, which is the main research problem studied in this thesis.</div><div><br></div><div>A novel robust observer was proposed to synthesize a combined controller-observer compensator for a class of CPSs with sparse malicious attacks and arbitrary disturbances. The compensator consists of a controller, a norm approximator, and an unknown input observer (UIO). The proposed observer was compared with a norm-based observer given in the literature to show its advantage. To further enhance the proposed observer's performance against arbitrary disturbances, design methods were given that use fictitious output measurements and error correcting code (ECC) approach. The design of the UIO was extended to a bank of UIOs in order to improve the observer's performance against sparse malicious attacks.</div><div><br></div><div>The proposed observer can be used in the design of UIO-based fault detection and isolation (FDI) algorithms as well as in the distributed fault-tolerant control of large-scale interconnected systems. The results of this thesis can be applied to the design of controller-observer compensators for CPSs with modeling uncertainties.</div>

No description available.

This thesis deals with a new robust control design for autonomous vehicles. The goal is to perform lane keeping under various constraints, mainly actuator saturation of the steering system, lateral wind force, incident obstacles and unknown curvatures. To reach this goal, we propose an improved formulation of Parallel Distributed Compensation (PDC) law since it is a nonlinear system feedback state controller. A direct Lyapunov method to ensure the stability and the stabilization of the discrete-time Takagi-Sugeno (T-S) model representing the autonomous vehicle dynamics is suggested. We derived necessary and sufficient stability and stabilization conditions from the quadratic Lyapunov function. These conditions are expressed in terms of strict Linear Matrix Inequalities (LMIs) extracted from the linearization of the Bilinear Matrix Inequalities (BMIs). The vector state is measured entirely by the Luenberger multi-observers to be used in the feedback control. The results of Autonomous vehicle control are presented in this thesis to show the effectiveness of the proposed approach. Simulations are used to validate the theoretical results.

The presented research concerns the control of unmanned vehicles. The results introduced in this dissertation provide a solid control framework for a wide class of nonlinear uncertain systems, with a special emphasis on issues related to implementation, such as control input amplitude and rate saturation, or partial state measurements availability. More specifically, an adaptive control framework, allowing to enforce amplitude and rate saturation of the command, is developed. The motion control component of this framework, which works in conjunction with a saturation algorithm, is then specialized to different types of vehicles. Vertical take-off and landing aerial vehicles and a general class of autonomous marine vehicles are considered. A nonlinear control algorithm addressing the tracking problem for a class of underactuated, non-minimum phase marine vehicles is then introduced. This motion controller is extended, using direct and indirect adaptive techniques, to handle parametric uncertainties in the system model. Numerical simulations are used to illustrate the efficacy of the algorithms. Next, the output feedback control problem is treated, for a large class of nonlinear and uncertain systems. The proposed solution relies on a novel nonlinear observer which uses output measurements and partial knowledge of the system's dynamics to reconstruct the entire state for a wide class of nonlinear systems. The observer is then extended to operate in conjunction with a full state feedback control law and solve both the output feedback control problem and the state observation problem simultaneously. The resulting output feedback control algorithm is then adjusted to provide a high level of robustness to both parametric and structural model uncertainties. Finally, in a natural extension of these results from motion control of a single system to collaborative control of a group of vehicles, a cooperative control framework addressing limited communication issues is introduced. / Ph. D.