Set-Valued Observers for Attitude and Rate Gyros Bias Estimation

UM > Faculty of Science and Technology > DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING

Status	已發表Published
	Set-Valued Observers for Attitude and Rate Gyros Bias Estimation
	Brás, S; Rosa, P; Silvestre, C; Oliveira, P
	2012-06-01
Source Publication	Proc. of the American Control Conference (ACC 2012)
Pages	1098-1103
Publication Place	Piscataway, NJ
Publisher	The Institute of Electrical and Electronics Engineers (IEEE)
Abstract	This paper addresses the problem of controlling the temperature of an air heating fan with an unknown flow input rate. This time-varying uncertainty in the dynamics of the plant significantly reduces the performance of the closed loop system, if a single (fixed) non-adaptive controller is used. Moreover, the average temperature of the air flowing through the system, that can be seen as an offset on the corresponding dynamics, is also (slowly) time-varying and highly dependent on the ambient temperature. Therefore, an alternative approach to this problem is proposed, by resorting to a novel multiple-model adaptive control methodology that relies on set-valued observers to identify the operating region of the plant. The suggested method is evaluated experimentally, demonstrating a loss of performance of about 2% when compared to the (unrealizable) perfect model identification scenario. As a shortcoming, the computational requirements due to the use of SVOs are considerably larger than the ones needed for an LTI non-adaptive controller.
Keyword	Attitude estimation Observers Nonlinear systems Set-Valued Observersms
Language	英語English
The Source to Article	PB_Publication
PUB ID	42855
Document Type	Conference paper
Collection	DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Recommended Citation GB/T 7714	Brás, S,Rosa, P,Silvestre, C,et al. Set-Valued Observers for Attitude and Rate Gyros Bias Estimation[C], Piscataway, NJ:The Institute of Electrical and Electronics Engineers (IEEE), 2012, 1098-1103.
APA	Brás, S., Rosa, P., Silvestre, C., & Oliveira, P (2012). Set-Valued Observers for Attitude and Rate Gyros Bias Estimation. Proc. of the American Control Conference (ACC 2012), 1098-1103.

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