Improved feedback linearization control based on PSO optimization of an extended Kalman filter

Medjghou Ali; Ghanai Mouna; Chafaa Kheireddine

摘要

Summary > A robust nonlinear controller based on an improved feedback linearization technique with state observer in presence of uncertainties and external disturbances is developed for a class of nonlinear systems. First, by combining classical feedback linearization approach with a robust control term and a fuzzy logic system, we design and study an efficient controller for such systems. Second, we propose an optimized extended Kalman filter for the observation of the states. The parameters to be optimized are the covariance matrices <fi>Q</fi> and <fi>G</fi> , which play an important role in the extended Kalman filter performances. This optimization is insured by the particle swarm optimization algorithm. The Lyapunov synthesis approach is used to prove the stability of the whole control loop. The proposed approach is simulated on a nonlinear inverted‐pendulum system. Simulation results demonstrate the robustness and effectiveness of the proposed scheme and exhibit a more superior performance than its conventional counterpart. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><abstract xmlns =“http://www.wiley.com/namespaces/wiley”type =“main”xml：lang =“en”xml：id =“oca2454-abs-abs-0001”> <标题类型=“main”>摘要</ title> > 为一类非线性系统开发了一种基于具有状态观察者的改进反馈线性化技术的鲁棒非线性控制器，用于一类非线性系统。首先，通过将经典反馈线性化方法与强大的控制术语和模糊逻辑系统相结合，我们设计和研究这种系统的有效控制器。其次，我们提出了一个优化的扩展卡尔曼滤波器，用于观察状态。要优化的参数是协方差矩阵 <fi> q </ fi> 和 <fi> g </ fi> ，这在扩展卡尔曼滤波器性能中发挥着重要作用。这种优化由粒子群优化算法保险。 Lyapunov合成方法用于证明整个控制回路的稳定性。在非线性倒立摆动系统上模拟所提出的方法。仿真结果表明，所提出的方案的稳健性和有效性，而且表现出比传统对应的更优越的性能。 </ p> </摘要> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" >著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-27675/'>《Optimal Control Applications and Methods》</a> <b style="margin: 0 2px;">|</b><span>2018年第6期</span><b style="margin: 0 2px;">|</b><span>共16页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Medjghou Ali&option=202" target="_blank" rel="nofollow">Medjghou Ali;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Ghanai Mouna&option=202" target="_blank" rel="nofollow">Ghanai Mouna;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Chafaa Kheireddine&option=202" target="_blank" rel="nofollow">Chafaa Kheireddine;</a> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> <p>LAAAS Laboratory Department of ElectronicsUniversity of Batna 2Batna Algeria;</p> <p>LAAAS Laboratory Department of ElectronicsUniversity of Batna 2Batna Algeria;</p> <p>LAAAS Laboratory Department of ElectronicsUniversity of Batna 2Batna Algeria;</p> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li > <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span><a href="https://www.zhangqiaokeyan.com/clc/1147.html" title="应用数学">应用数学;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=discontinuous control&option=203" rel="nofollow">discontinuous control;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=extended Kalman filter&option=203" rel="nofollow">extended Kalman filter;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=feedback linearization&option=203" rel="nofollow">feedback linearization;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=fuzzy logic&option=203" rel="nofollow">fuzzy logic;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=particle swarm optimization&option=203" rel="nofollow">particle swarm optimization;</a> </p> <div class="translation"> 机译：不连续控制;扩展卡尔曼滤波器;反馈线性化;模糊逻辑;粒子群优化; </div> </li> </ul> </div> </div> <div class="literature cardcommon"> <div 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