An extended state observer with adjustable bandwidth for measurement noise

In this paper,a bandwidth-adjustable extended state observer(ABESO)is proposed for the systems with measurement noise.It is known that increasing the bandwidth of the observer improves the tracking speed but tolerates noise,which conflicts with observation accuracy.Therefore,we introduce a bandwidth scaling factor such that ABESO is formulated to a 2-degree-of-freedom system.The observer gain is determined and the bandwidth scaling factor adjusts the bandwidth according to the tracking error.When the tracking error decreases,the bandwidth decreases to suppress the noise,otherwise the bandwidth does not change.It is proven that the error dynamics are bounded and converge in finite time.The relationship between the upper bound of the estimation error and the scaling factor is given.When the scaling factor is less than 1,the ABESO has higher estimation accuracy than the linear extended state observer(LESO).Simulations of an uncertain nonlinear system with compound disturbances show that the proposed ABESO can successfully estimate the total disturbance in noisy environments.The mean error of total disturbance of ABESO is 15.28% lower than that of LESO.

Backstepping Sliding Mode Control Based on Extended State Observer for Hydraulic Servo System

Hydraulic servo system plays an important role in industrial fields due to the advantages of high response,small size-to-power ratio and large driving force.However,inherent nonlinear behaviors and modeling uncertainties are the main obstacles for hydraulic servo system to achieve high tracking perfor-mance.To deal with these difficulties,this paper presents a backstepping sliding mode controller to improve the dynamic tracking performance and anti-interfer-ence ability.For this purpose,the nonlinear dynamic model is firstly established,where the nonlinear behaviors and modeling uncertainties are lumped as one term.Then,the extended state observer is introduced to estimate the lumped distur-bance.The system stability is proved by using the Lyapunov stability theorem.Finally,comparative simulation and experimental are conducted on a hydraulic servo system platform to verify the efficiency of the proposed control scheme.

Proactive traffic responsive control based on state-space neural network and extended Kalman filter

The state-space neural network and extended Kalman filter model is used to directly predict the optimal timing plan that corresponds to futuristic traffic conditions in real time with the purposes of avoiding the lagging of the signal timing plans to traffic conditions. Utilizing the traffic conditions in current and former intervals, the network topology of the state-space neural network （SSNN）, which is derived from the geometry of urban arterial routes, is used to predict the optimal timing plan corresponding to the traffic conditions in the next time interval. In order to improve the effectiveness of the SSNN, the extended Kalman filter （EKF） is proposed to train the SSNN instead of conventional approaches. Raw traffic data of the Guangzhou Road, Nanjing and the optimal signal timing plan generated by a multi-objective optimization genetic algorithm are applied to test the performance of the proposed model. The results indicate that compared with the SSNN and the BP neural network, the proposed model can closely match the optimal timing plans in futuristic states with higher efficiency.

Dual Extended Kalman Filter for Combined Estimation of Vehicle State and Road Friction

Vehicle state and tire-road adhesion are of great use and importance to vehicle active safety control systems. However, it is always not easy to obtain the information with high accuracy and low expense. Recently, many estimation methods have been put forward to solve such problems, in which Kalman filter becomes one of the most popular techniques. Nevertheless, the use of complicated model always leads to poor real-time estimation while the role of road friction coefficient is often ignored. For the purpose of enhancing the real time performance of the algorithm and pursuing precise estimation of vehicle states, a model-based estimator is proposed to conduct combined estimation of vehicle states and road friction coefficients. The estimator is designed based on a three-DOF vehicle model coupled with the Highway Safety Research Institute（HSRI） tire model; the dual extended Kalman filter （DEKF） technique is employed, which can be regarded as two extended Kalman filters operating and communicating simultaneously. Effectiveness of the estimation is firstly examined by comparing the outputs of the estimator with the responses of the vehicle model in CarSim under three typical road adhesion conditions（high-friction, low-friction, and joint-friction）. On this basis, driving simulator experiments are carried out to further investigate the practical application of the estimator. Numerical results from CarSim and driving simulator both demonstrate that the estimator designed is capable of estimating the vehicle states and road friction coefficient with reasonable accuracy. The DEKF-based estimator proposed provides the essential information for the vehicle active control system with low expense and decent precision, and offers the possibility of real car application in future.

Real-time embedded software testing method based on extended finite state machine

The reliability of real-time embedded software directly determines the reliability of the whole real-time embedded sys- tem, and the effective software testing is an important way to ensure software quality and reliability. Based on the analysis of the characteristics of real-time embedded software, the formal method is introduced into the real-time embedded software testing field and the real-time extended finite state machine （RT-EFSM） model is studied firstly. Then, the time zone division method of real-time embedded system is presented and the definition and description methods of time-constrained transition equivalence class （timeCTEC） are presented. Furthermore, the approaches of the testing sequence and test case generation are put forward. Finally, the proposed method is applied to a typical avionics real- time embedded software testing practice and the examples of the timeCTEC, testing sequences and test cases are given. With the analysis of the testing result, the application verification shows that the proposed method can effectively describe the real-time embedded software state transition characteristics and real-time requirements and play the advantages of the formal methods in accuracy, effectiveness and the automation supporting. Combined with the testing platform, the real-time, closed loop and automated simulation testing for real-time embedded software can be realized effectively.

Improved Quantum ＂ Ping-Pong＂ Protocol Based on Extended Three-Particle GHZ State

In order to transmit secure messages, a quantum secure direct communication protocol based on extended three-particle GHZ state was presented, in which the extended three-particle GHZ state was used to detect eavesdroppers. In the security analysis, the method of the entropy theory is introduced, and three detection strategies are compared quantitatively by using the constraint between the information eavesdroppers can obtain and the interference introduced. If the eavesdroppers intend to obtain all inforrmtion, the detection rate of the original ＂Ping-pong＂ protocol is 50% ; the second protocol used two particles of EPR pair as detection particles is also 50%; while the presented protocol is 58%. At last, the security of the proposed protocol is discussed. The analysis results indicate that the protocol in this paper is more secure than the other two.

Differential geometric guidance command with finite time convergence using extended state observer

For improving the performance of differential geometric guidance command(DGGC), a new formation of this guidance law is proposed, which can guarantee the finite time convergence(FTC) of the line of sight(LOS) rate to zero or its neighborhood against maneuvering targets in three-dimensional(3D) space. The extended state observer(ESO) is employed to estimate the target acceleration, which makes the new DGGC more applicable to practical interception scenarios. Finally, the effectiveness of this newly proposed guidance command is demonstrated by the numerical simulation results.

Mixed H_2/H_∞ State Feedback Attitude Control of Microsatellite Based on Extended LMI Method

For the appearance of the additive perturbation of controller gain when the controller parameter has minute adjustment at the initial running stage of system,to avoid the adverse effects,this paper investigates the mixed H_2/H_∞ state feedback attitude control problem of microsatellite based on extended LMI method.Firstly,the microsatellite attitude control system is established and transformed into corresponding state space form.Then,without the equivalence restriction of the two Lyapunov variables of H_2 and H∞performance,this paper introduces additional variables to design the mixed H_2/H_∞ control method based on LMI which can also reduce the conservatives.Finally,numerical simulations are analyzed to show that the proposed method can make the satellite stable within 20 s whether there is additive perturbation of the controller gain or not.The comparative analysis of the simulation results between extended LMI method and traditional LMI method also demonstrates the effectiveness and feasibility of the proposed method in this paper.

On Kendall's Conjecture for an Extended Birth-death Q-processes with Instantaneous State and Catastrophes

A new structure with the special property that instantaneous state and catas-trophes is imposed to ordinary birth-death processes is considered. Kendall's conjecture forthe processes is proved to be right.

PMSM speed control using adaptive sliding mode control based on an extended state observer

In this study,a composite strategy based on sliding-mode control( SMC) is employed in a permanent-magnet synchronous motor vector control system to improve the system robustness performance against parameter variations and load disturbances. To handle the intrinsic chattering of SMC,an adaptive law and an extended state observer( ESO) are utilized in the speed SMC controller design. The adaptive law is used to estimate the internal parameter variations and compensate for the disturbances caused by model uncertainty. In addition,the ESO is introduced to estimate the load disturbance in real time. The estimated value is used as a feed-forward compensator for the speed adaptive sliding-mode controller to further increase the system's ability to resist disturbances. The proposed composite method,which combines adaptive SMC( ASMC) and ESO,is compared with PI control and ASMC. Both the simulation and experimental results demonstrate that the proposed method alleviates the chattering of SMC systems and improves the dynamic response and robustness of the speed control system against disturbances.

Extended state observer-based control with an adjustable parameter for a large ground-based telescope

The high-precision requirements will always be constrained due to the complicated operating conditions of the ground-based telescope. Owing to various internal and external disturbances, it is necessary to study a control method, which should have a good ability on disturbance rejection and a good adaptability on system parameter variation. The traditional proportional-integral(PI) controller has the advantage of simple and easy adjustment, but it cannot deal with the disturbances well in different situations. This paper proposes a simplified active disturbance rejection control law, whose debugging is as simple as the PI controller, and with better disturbance rejection ability and parameter adaptability. It adopts a simplified second-order extended state observer(ESO) with an adjustable parameter to accommodate the significant variation of the inertia during the different design stages of the telescope. The gain parameter of the ESO can be adjusted online with a recursive least square estimating method once the system parameter has changed significantly. Thus, the ESO can estimate the total disturbances timely and the controller will compensate them accordingly. With the adjustable parameter of the ESO, the controller can always achieve better performance in different applications of the telescope. The simulation and experimental verification of the control law was conducted on a 1.2-meter ground based telescope. The results verify the necessity of adjusting the parameter of the ESO, and demonstrate better disturbance rejection ability in a large range of speed variations during the design stages of the telescope.

Simulation on model predictive control for PMSM drive system based on double extended state observer

A novel double extended state observer(DESO)based on model predictive torque control(MPTC)strategy is developed for three-phase permanent magnet synchronous motor(PMSM)drive system without current sensor.In general,to achieve high-precision control,two-phase current sensors are necessary for successful implementation of MPTC.For this purpose,two ESOs are used to estimate q-axis current and stator resistance respectively,and then based on this,d-axis current is estimated.Moreover,to reduce torque and flux ripple and to improve the performance of the torque and speed,MPTC strategy is designed.The simulation results validate the feasibility and effectiveness of the proposed scheme.

Giant magneto field effect in up-conversion amplified spontaneous emission via spatially extended states in organic-inorganic hybrid perovskites

Up-conversion lasing actions are normally difficult to realize in light-emitting materials due to small multi-photon absorp-tion cross section and fast dephasing of excited states during multi-photon excitation.This paper reports an easily ac-cessible up-conversion amplified spontaneous emission(ASE)in organic-inorganic hybrid perovskites(MAPbBr3)films by optically exciting broad gap states with sub-bandgap laser excitation.The broad absorption was optimized by adjust-ing the grain sizes in the MAPbBr3 films.At low sub-bandgap pumping intensities,directly exciting the gap states leads to 2-photon,3-photon,and 4-photon up-conversion spontaneous emission,revealing a large optical cross section of multi-photon excitation occurring in such hybrid perovskite films.At moderate pumping intensity(1.19 mJ/cm2)of 700 nm laser excitation,a significant spectral narrowing phenomenon was observed with the full width at half maximum(FWHM)de-creasing from 18 nm to 4 nm at the peak wavelength of 550 nm,simultaneously with a nonlinear increase on spectral peak intensity,showing an up-conversion ASE realized at low threshold pumping fluence.More interestingly,the up-con-version ASE demonstrated a giant magnetic field effect,leading to a magneto-ASE reaching 120%.In contrast,the up-conversion photoluminescence(PL)showed a negligible magnetic field effect(<1%).This observation provides an evid-ence to indicate that the light-emitting states responsible for up-conversion ASE are essentially formed as spatially exten-ded states.The angular dependent spectrum results further verify the existence of spatially extended states which are polarized to develop coherent in-phase interaction.Clearly,using broad gap states with spatially extended light-emitting states presents a new approach to develop up-conversion ASE in organic-inorganic hybrid perovskites.

Extended state observer based smooth switching control for tilt-rotor aircraft

A tilt-rotor aircraft has three flight modes: helicopter mode, airplane mode and conversion mode. Unlike the traditional aircraft, the tilt-rotor aircraft, which combines the characteristics of helicopters and fixed-wing aircraft, is a complex multi-body system with the violent variation of the aerodynamic parameters. For these characteristics, a new smooth switching control scheme is provided for the tilt-rotor aircraft. First, the reference commands for airspeed and nacelle angles are calculated by analyzing the conversion corridor and the conversion path. Subsequently, based on the finite-time switching theorem, an average dwell time condition is designed to guarantee the stability in the switching process. Besides, considering the state vibrations and bumps may appear in switching points, the fuzzy weighted logic is employed to improve the system transient performance. For disturbance rejection, three extended state observers are designed separately to estimate the disturbances in the switched systems. Compared with the traditional auto disturbance rejection control and proportion integration differentiation control, this method overcomes the conservatism of wasting the whole model information. The control performances of robustness and smoothness are verified with simulation, which shows that the new smooth switching control scheme is more targeted and superior than the traditional design method.

A non-contact spacecraft architecture with extended stochastic state observer based control for gravity mission

A novel non-contact spacecraft architecture with the extended stochastic state observer for disturbance rejection control of the gravity satellite is proposed.First,the precise linear driving non-contact voice-coil actuators are used to separate the whole spacecraft into the non-contact payload module and the service module,and to build an ideal loop with precise dynamics for disturbance rejection control of the payload module.Second,an extended stochastic state observer is enveloped to construct the overall nonlinear external terms and the internal coupled terms of the payload module,enabling the controller design of the payload module turned into the linear form with simple bandwidth-parameterization tuning in the frequency domain.As a result,the disturbance rejection control of the payload module can be explicitly achieved in a timely manner without complicated tuning in actual implementation.Finally,an extensive numerical simulation is conducted to validate the feasibility and effectiveness of the proposed approach.

Intelligent Process Fault Diagnosis for Nonlinear Systems with Uncertain Plant Model via Extended State Observer and Soft Computing

There have been many studies on observer-based fault detection and isolation (FDI), such as using unknown input observer and generalized observer. Most of them require a nominal mathematical model of the system. Unlike sensor faults, actuator faults and process faults greatly affect the system dynamics. This paper presents a new process fault diagnosis technique without exact knowledge of the plant model via Extended State Observer (ESO) and soft computing. The ESO’s augmented or extended state is used to compute the system dynamics in real time, thereby provides foundation for real-time process fault detection. Based on the input and output data, the ESO identifies the un-modeled or incorrectly modeled dynamics combined with unknown external disturbances in real time and provides vital information for detecting faults with only partial information of the plant, which cannot be easily accomplished with any existing methods. Another advantage of the ESO is its simplicity in tuning only a single parameter. Without the knowledge of the exact plant model, fuzzy inference was developed to isolate faults. A strongly coupled three-tank nonlinear dynamic system was chosen as a case study. In a typical dynamic system, a process fault such as pipe blockage is likely incipient, which requires degree of fault identification at all time. Neural networks were trained to identify faults and also instantly determine degree of fault. The simulation results indicate that the proposed FDI technique effectively detected and isolated faults and also accurately determine the degree of fault. Soft computing (i.e. fuzzy logic and neural networks) makes fault diagnosis intelligent and fast because it provides intuitive logic to the system and real-time input-output mapping.

Relation between initial conditions and entanglement sudden death for two-qubit extended Werner-like states

In this paper, the dynamical behavior of entanglement of an uncoupled two-qubit system, which interacts with inde- pendent identical amplitude damping environments and is initially prepared in the extended Werner-like （EWL） states, is investigated. The results show that whether entanglement sudden death （ESD） of an EWL state will occur or not depends on initial purity and concurrence. The boundaries between ESD states and ESD-free states for two kinds of EWL states are found to be different. Furthermore, some regions are shown where ESD states can be transformed into ESD-free states by local unitary operations.

Sudden birth versus sudden death of entanglement for the extended Werner-like state in a dissipative environment

In this paper, we investigate the dynamical behaviour of entanglement in terms of concurrence in a bipartite system subjected to an external magnetic field under the action of dissipative environments in the extended Werner-like initial state. The interesting phenomenon of entanglement sudden death as well as sudden birth appears during the evolution process. We analyse in detail the effect of the purity of the initial entangled state of two qubits via Heisenberg XY interaction on the apparition time of entanglement sudden death and entanglement sudden birth. Furthermore, the conditions on the conversion of entanglement sudden death and entanglement sudden birth can be generalized when the initial entangled state is not pure. In particular, a critical purity of the initial mixed entangled state exists, above which entanglement sudden birth vanishes while entanglement sudden death appears. It is also noticed that stable entanglement, which is independent of different initial states of the qubits （pure or mixed state）, occurs even in the presence of decoherence. These results arising from the combination of the extended Werner-like initial state and dissipative environments suggest an approach to control and enhance the entanglement even after purity induced sudden birth, death and revival.

Levitation of Extended States in a Random Magnetic Field with a Finite Mean

We study the localization properties of electrons in a two-dimensional system in a random magnetic field with the average and the amplitude of the magnetic field fluctuations δB. The localization length of the system is calculated by using the finite-size scaling method combined with the transfer-matrix technique. In the case of weak δB, we find that the random magnetic field system is equivalent to the integer quantum Hall effect system, namely, the energy band splits into a series of disorder broadened Landau bands, at the centers of which states are extended with the localization length exponent . With increasing δB, the extended states float up in energy, which is similar to the levitation scenario proposed for the integer quantum Hall effect.

Test Selection on Extended Finite State Machines with Provable Guarantees

Building high confidence regression test suites to validate new system versions is a challenging problem. A modelbased approach to build a regression test suite from a given test suite is described. The generated test suite includes every test that will traverse a change performed to produce the new version, and consists of only such tests to reduce the testing costs. Finite state machines extended with typed variables (EFSMs) are used to model systems and system changes are mapped to EFSM transition changes adding/deleting/replacing EFSM transitions and states. Tests are a sequence of input and expected output messages with concrete parameter values over the supported data types. An invariant is formulated to characterize tests whose runtime behavior can be accurately predicted by analyzing their descriptions along with the model. Incremental procedures to efficiently evaluate the invariant and to select tests for regression are developed. Overlaps among the test descriptions are exploited to extend the approach to simultaneously select multiple tests to reduce the test selection costs. Effectiveness of the approach is demonstrated by applying it to several protocols, Web services, and model programs extracted from a popular testing benchmark. Our experimental results show that the proposed approach is economical for regression test selection in all these examples. For all these examples, the proposed approach is able to identify all tests exercising changes more efficiently than brute-force symbolic evaluation.