Observer-based State Feedback Control to Suppress Stick-slip Vibrations in Oil Well Drill-string

In drilling field, stick-slip vibrations of the drill-string are the main reason for the failure of the drilling system. To suppress the undesired stick-slip vibrations, an observer-based state feedback control method is proposed. The drilling system is described by a lumped parameter model including a Karnopp friction torque model. A state observer is designed to estimate the bit velocity in bottom hole and a state feedback controller is proposed to control the top drive velocity. By simulation, the performance of the control algorithm is demonstrated. Based on the control algorithm, a stick-slip vibration control system is developed. Test results show that the control system can effectively eliminate stick-slip vibrations of the drill-string and can be applied to the drilling field.

Input-to-State Stabilization of Nonlinear Impulsive Delayed Systems: An Observer-Based Control Approach

This paper addresses the problems of input-to-state stabilization and integral input-to-state stabilization for a class of nonlinear impulsive delayed systems subject to exogenous dis-turbances.Since the information of plant’s states,time delays,and exogenous disturbances is often hard to be obtained,the key design challenge,which we resolve,is the construction of a state observer-based controller.For this purpose,we firstly propose a corresponding observer which is independent of time delays and exogenous disturbances to reconstruct(or estimate)the plant’s states.And then based on the observations,we establish an observer-based control design for the plant to achieve the input-to-state stability(ISS)and integral-ISS(iISS)properties.With the help of the comparison principle and average impulse interval approach,some sufficient conditions are presented,and moreover,two different linear matrix inequalities(LMIs)based criteria are proposed to design the gain matrices.Finally,two numerical examples and their simulations are given to show the effectiveness of our theoretical results.

Observer-Based Adaptive Fuzzy Tracking Control Using Integral Barrier Lyapunov Functionals for A Nonlinear System With Full State Constraints

A new fuzzy adaptive control method is proposed for a class of strict feedback nonlinear systems with immeasurable states and full constraints.The fuzzy logic system is used to design the approximator,which deals with uncertain and continuous functions in the process of backstepping design.The use of an integral barrier Lyapunov function not only ensures that all states are within the bounds of the constraint,but also mixes the states and errors to directly constrain the state,reducing the conservativeness of the constraint satisfaction condition.Considering that the states in most nonlinear systems are immeasurable,a fuzzy adaptive states observer is constructed to estimate the unknown states.Combined with adaptive backstepping technique,an adaptive fuzzy output feedback control method is proposed.The proposed control method ensures that all signals in the closed-loop system are bounded,and that the tracking error converges to a bounded tight set without violating the full state constraint.The simulation results prove the effectiveness of the proposed control scheme.

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.

Reduced-Order Observer-Based LQR Controller Design for Rotary Inverted Pendulum

The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Despite the implementation of various control strategies to maintain equilibrium,optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains elusive.Existing methods frequently rely on extensive experimental data or the designer’s expertise,presenting a notable drawback.This paper proposes a novel tracking control approach for RIP,utilizing a Linear Quadratic Regulator(LQR)in combination with a reduced-order observer.Initially,the RIP system is mathematically modeled using the Newton-Euler-Lagrange method.Subsequently,a composite controller is devised that integrates an LQR for generating nominal control signals and a reduced-order observer for reconstructing unmeasured states.This approach enhances the controller’s robustness by eliminating differential terms from the observer,thereby attenuating unknown disturbances.Thorough numerical simulations and experimental evaluations demonstrate the system’s capability to maintain balance below50Hz and achieve precise tracking below1.4 rad,validating the effectiveness of the proposed control scheme.

Delay-dependent observer-based stabilizing controller design for linear multiple state-delayed systems

This article concerns a coupled LMIs approach to delay-dependent observer-based output feedback stabilizing controller design for linear continuous-time systems with multiple state delays. The advantage of our proposed delay-dependent coupled LMIs criterion lies in that: ( 1 ) it can optimize one of multiple time delays with others selected properly, and at the same time, the feedback-gain and observer-gain can be obtained, respectively. (2) it is less conservative than the existing delay-independent ones in the literature. Algorithm to solve the coupled LMIs is also given. Numerical examples illustrate the effectiveness of our method. Keywords Delay-dependent criterion - Time-delay system - Multiple time-delay - Observer-based controller - Linear matrixinequality (LMI)

Observer-Based Nonlinear Control of A Torque Motor with Perturbation Estimation

This paper presents an observer-based nonlinear control method that was developed and implemented to provide accurate tracking control of a limited angle torque motor following a 50Hz reference waveform. The method is based on a robust nonlinear observer, which is used to estimate system states and perturbations and then employ input-output feedbazk linearization to compensate for the system nonlinearities and uncertainties. The estimation of system states and perturbations allows input-output linearization of the nonlinear system without an accurate mathematical model of nominal plant. The simulation results show that the observer-based nonlinear control method is superior in comparison with the conventional model-based state feedback linearizing controller.

Observer-based robust predictive control of singular systems with time-delay and parameter uncertainties

The problem of observer-based robust predictive control is studied for the singular systems with norm-bounded uncertainties and time-delay, and the design method of robust predictive observer-based controller is proposed. By constructing the Lyapunov function with the error terms, the infinite time domain ＂min-max＂ optimization problems are converted into convex optimization problems solving by the linear matrix inequality （LMI）, and the sufficient conditions for the existence of this control are derived. It is proved that the robust stability of the closed-loop singular systems can be guaranteed by the initial feasible solutions of the optimization problems, and the regular and the impulse-free of the singular systems are also guaranteed. A simulation example illustrates the efficiency of this method.

Adaptive Memory Event-Triggered Observer-Based Control for Nonlinear Multi-Agent Systems Under DoS Attacks

This paper investigates the event-triggered security consensus problem for nonlinear multi-agent systems(MASs)under denial-of-service(Do S)attacks over an undirected graph.A novel adaptive memory observer-based anti-disturbance control scheme is presented to improve the observer accuracy by adding a buffer for the system output measurements.Meanwhile,this control scheme can also provide more reasonable control signals when Do S attacks occur.To save network resources,an adaptive memory event-triggered mechanism(AMETM)is also proposed and Zeno behavior is excluded.It is worth mentioning that the AMETM's updates do not require global information.Then,the observer and controller gains are obtained by using the linear matrix inequality(LMI)technique.Finally,simulation examples show the effectiveness of the proposed control scheme.

Observer-Based Path Tracking Controller Design for Autonomous Ground Vehicles With Input Saturation

This paper investigates the problem of path tracking control for autonomous ground vehicles(AGVs),where the input saturation,system nonlinearities and uncertainties are considered.Firstly,the nonlinear path tracking system is formulated as a linear parameter varying(LPV)model where the variation of vehicle velocity is taken into account.Secondly,considering the noise effects on the measurement of lateral offset and heading angle,an observer-based control strategy is proposed,and by analyzing the frequency domain characteristics of the derivative of desired heading angle,a finite frequency H_∞index is proposed to attenuate the effects of the derivative of desired heading angle on path tracking error.Thirdly,sufficient conditions are derived to guarantee robust H_∞performance of the path tracking system,and the calculation of observer and controller gains is converted into solving a convex optimization problem.Finally,simulation examples verify the advantages of the control method proposed in this paper.

Nonlinear observer-based optimal control of an active transfemoral prosthesis

This paper designs a joint controller/observer framework using a state dependent Riccati equation(SDRE)approach for an active transfemoral prosthesis system.An integral state control technique is utilized to design a tracking controller for a robot/prosthesis system.This framework promises a systematic flexible design using which multiple design specifications such as robustness,state estimation,and control optimality are achieved without the need for model linearization.Performance of the proposed approach is demonstrated through simulation studies,which show improvements versus a robust adaptive impedance controller and an extended Kalman filter-based state estimation method.Numerical results confirm the benefits of our method over the above-mentioned approaches with regard to control optimality and state estimation.

Observer-based backstepping longitudinal control for carrier-based UAV with actuator faults

The paper presents the longitudinal control for the carrier-based unmanned aerial vehicle (UAV) system with unmeasured states, actuator faults, control input constraints, and external disturbances. By combining output state observer, adaptive fuzzy control, and constraint backstepping technology, a robust fault tolerant control approach is proposed. An output state observer with fuzzy logic systems is developed to estimate unmeasured states, and command filters rather than differentiations of virtual control law are used to solve the computational complexity problem in traditional backstepping. Additionally, a robust term is introduced to offset the fuzzy adaptive estimation error and external disturbance, and an appropriate fault controller structure with matching conditions obtained from fault compensation is proposed. Based on the Lyapunov theory, the designed control program is illustrated to guarantee that all the closed-loop signals of the given system are bounded, and the output errors converge to a small neighborhood of zero. A carrier-based UAV nonlinear longitudinal model is employed to testify the feasibility and validity of the control scheme. The simulation results show that all the controllers can perform at a satisfactory level of reference tracking despite the existence of unknown aerodynamic parameters and actuator faults. © 2017 Beijing Institute of Aerospace Information.

Observer-Based Nonlinear Feedback Controls for Heartbeat ECG Tracking Systems

The analysis and design of observed-based nonlinear control of a heartbeat tracking system is investigated in this paper. Two of Zeeman’s heartbeat models are investigated and modified by adding the control input as a pacemaker, thereby creating the control-affine nonlinear system models that capture the general heartbeat behavior of the human heart. The control objective is to force the output of the heartbeat models to track and generate a synthetic electrocardiogram (ECG) signal based on the actual patient reference data, obtained from the William Beaumont Hospitals, Michigan, and the PhysioNet database. The formulations of the proposed heartbeat tracking control systems consist of two phases: analysis and synthesis. In the analysis phase, nonlinear controls based on input-output feedback linearization are considered. This approach simplifies the difficult task of developing nonlinear controls. In the synthesis phase, observer-based controls are employed, where the unmeasured state variables are estimated for practical implementations. These observer-based nonlinear feedback control schemes may be used as a control strategy in electronic pacemakers. In addition, they could be used in a software-based approach to generate a synthetic ECG signal to assess the effectiveness of diagnostic ECG signal processing devices.

Observer-Based Control for a Cable-Driven Aerial Manipulator under Lumped Disturbances

With the increasing demand for interactive aerial operations,the application of aerial manipulators is becoming more promising.However,there are a few critical problems on how to improve the energetic efficiency and pose control of the aerialmanipulator forpractical application.In this paper,a novel cable-drivenaerialmanipulatorused for remote water sampling is proposed and then its rigid-flexible coupling dynamics model is constructed which takes joint flexibility into account.To achieve high precision joint position tracking under lumped disturbances,a newly controller,which consists of three parts:linear extended state observer,adaptive super-twisting strategy,and fractional-order nonsingular terminal sliding mode control,is proposed.The linear extended state observer is adopted to approximate unmeasured states and unknown lumped disturbances and achieve model-free control structure.The adaptive super-twisting strategy and fractional-order nonsingular terminal sliding mode control are combined together to achieve good control performance and counteract chattering problem.The Lyapunovmethod is utilized to prove the overall stability and convergence of the system.Lastly,various visualization simulations and ground experiments are conducted,verifying the effectiveness of our strategy,and all outcomes demonstrate its superiorities over the existing control strategies.

Observer-based adaptive control of uncertain time-delay switched systems with stuck actuator faults

This paper concerns the observer-based adaptive control problem of uncertain time-delay switched systems with stuck actuator faults. Under the case where the original controller cannot stabilize the faulty system, multiple adaptive controllers are designed and a suitable switching logic is incorporated to ensure the closed-loop system stability and state tracking. New delay-independent sufficient conditions for asymptotic stability are obtained in terms of linear matrix inequalities based on piecewise Lyapunov stability theory. On the other hand, adaptive laws for on-line updating of some of the controller parameters are also designed to compensate the effect of stuck failures. Finally, simulation results for reference [1] model show that the design is feasible and efficient.

Morphology and valence state evolution of Cu:Unraveling the impact on nitric oxide electroreduction

Ammonia(NH3)serves as a critical component in the fertilizer industry and fume gas denitrification.However,the conventional NH3production process,namely the Haber-Bosch process,leads to considerable energy consumption and waste gas emissions.To address this,electrocatalytic nitric oxide reduction reaction(NORR)has emerged as a promising strategy to bridge NH3consumption to NH3production,harnessing renewable electricity for a sustainable future.Copper(Cu)stands out as a prominent electrocatalyst for NO reduction,given its exceptional NH3yield and selectivity.However,a crucial aspect that remains insufficiently explored is the effects of morphology and valence states of Cu on the NORR performance.In this investigation,we synthesized CuO nanowires(CuO-NF)and Cu nanocubes(Cu-NF)as cathodes through an in situ growth method.Remarkably,CuO-NF exhibited an impressive NH3yield of 0.50±0.02 mg cm^(-2)h^(-1)at-0.6 V vs.reversible hydrogen electrode(RHE)with faradaic efficiency of29,68%±1,35%,surpassing that of Cu-NF(0.17±0.01 mg cm^(-2)h^(-1),16.18%±1.40%).Throughout the electroreduction process,secondary cubes were generated on the CuO-NF surface,preserving their nanosheet cluster morphology,sustained by an abundant supply of subsurface oxygen(s-O)even after an extended duration of 10 h,until s-O depletion ensued.Conversely,Cu-NF exhibited inadequate s-O content,leading to rapid crystal collapse within the same timeframe.The distinctive current-potential relationship,akin to a volcano-type curve,was attributed to distinct NO hydrogenation mechanisms.Further Tafel analysis revealed the exchange current density(i0)and standard heterogeneous rate constant(k0)for CuO-NF,yielding 3.44×10^(-6)A cm^(-2)and 3.77×10^(-6)cm^(-2)s^(-1)when NORR was driven by overpotentials.These findings revealed the potential of CuO-NF for NO reduction and provided insights into the intricate interplay between crystal morphology,valence states,and electrochemical performance.

Association of DNA methylation/demethylation with the functional outcome of stroke in a hyperinflammatory state

Inflammation is closely related to stroke prognosis, and high inflammation status leads to poor functional outcome in stroke. DNA methylation is involved in the pathogenesis and prognosis of stroke. However, the effect of DNA methylation on stroke at high levels of inflammation is unclear. In this study, we constructed a hyperinflammatory cerebral ischemia mouse model and investigated the effect of hypomethylation and hypermethylation on the functional outcome. We constructed a mouse model of transient middle cerebral artery occlusion and treated the mice with lipopolysaccharide to induce a hyperinflammatory state. To investigate the effect of DNA methylation on stroke, we used small molecule inhibitors to restrain the function of key DNA methylation and demethylation enzymes. 2,3,5-Triphenyltetrazolium chloride staining, neurological function scores, neurobehavioral tests, enzyme-linked immunosorbent assay, quantitative reverse transcription PCR and western blot assay were used to evaluate the effects after stroke in mice. We assessed changes in the global methylation status by measuring DNA 5-mc and DNA 5-hmc levels in peripheral blood after the use of the inhibitor. In the group treated with the DNA methylation inhibitor, brain tissue 2,3,5-triphenyltetrazolium chloride staining showed an increase in infarct volume, which was accompanied by a decrease in neurological scores and worsening of neurobehavioral performance. The levels of inflammatory factors interleukin 6 and interleukin-1 beta in ischemic brain tissue and plasma were elevated, indicating increased inflammation. Related inflammatory pathway exploration showed significant overactivation of nuclear factor kappa B. These results suggested that inhibiting DNA methylation led to poor functional outcome in mice with high inflammation following stroke. Further, the effects were reversed by inhibition of DNA demethylation. Our findings suggest that DNA methylation regulates the inflammatory response in stroke and has an important role in the functional outcome of hyperinflammatory stroke.

Assessment of Wet Season Precipitation in the Central United States by the Regional Climate Simulation of the WRFG Member in NARCCAP and Its Relationship with Large-Scale Circulation Biases

Assessment of past-climate simulations of regional climate models(RCMs)is important for understanding the reliability of RCMs when used to project future regional climate.Here,we assess the performance and discuss possible causes of biases in a WRF-based RCM with a grid spacing of 50 km,named WRFG,from the North American Regional Climate Change Assessment Program(NARCCAP)in simulating wet season precipitation over the Central United States for a period when observational data are available.The RCM reproduces key features of the precipitation distribution characteristics during late spring to early summer,although it tends to underestimate the magnitude of precipitation.This dry bias is partially due to the model’s lack of skill in simulating nocturnal precipitation related to the lack of eastward propagating convective systems in the simulation.Inaccuracy in reproducing large-scale circulation and environmental conditions is another contributing factor.The too weak simulated pressure gradient between the Rocky Mountains and the Gulf of Mexico results in weaker southerly winds in between,leading to a reduction of warm moist air transport from the Gulf to the Central Great Plains.The simulated low-level horizontal convergence fields are less favorable for upward motion than in the NARR and hence,for the development of moist convection as well.Therefore,a careful examination of an RCM’s deficiencies and the identification of the source of errors are important when using the RCM to project precipitation changes in future climate scenarios.

Thermal safety boundary of lithium-ion battery at different state of charge

Thermal runaway(TR)is a critical issue hindering the large-scale application of lithium-ion batteries(LIBs).Understanding the thermal safety behavior of LIBs at the cell and module level under different state of charges(SOCs)has significant implications for reinforcing the thermal safety design of the lithium-ion battery module.This study first investigates the thermal safety boundary(TSB)correspondence at the cells and modules level under the guidance of a newly proposed concept,safe electric quantity boundary(SEQB).A reasonable thermal runaway propagation(TRP)judgment indicator,peak heat transfer power(PHTP),is proposed to predict whether TRP occurs.Moreover,a validated 3D model is used to quantitatively clarify the TSB at different SOCs from the perspective of PHTP,TR trigger temperature,SOC,and the full cycle life.Besides,three different TRP transfer modes are discovered.The interconversion relationship of three different TRP modes is investigated from the perspective of PHTP.This paper explores the TSB of LIBs under different SOCs at both cell and module levels for the first time,which has great significance in guiding the thermal safety design of battery systems.

Whole-process case management effects on mental state and selfcare ability in patients with liver cancer

BACKGROUND Regarding the incidence of malignant tumors in China,the incidence of liver cancer ranks fourth,second only to lung,gastric,and esophageal cancers.The case fatality rate ranks third after lung and cervical cancer.In a previous study,the whole-process management model was applied to patients with breast cancer,which effectively reduced their negative emotions and improved treatment adherence and nursing satisfaction.METHODS In this single-center,randomized,controlled study,60 randomly selected patients with liver cancer who had been admitted to our hospital from January 2021 to January 2022 were randomly divided into an observation group(n=30),who received whole-process case management on the basis of routine nursing mea-sures,and a control group(n=30),who were given routine nursing measures.We compared differences between the two groups in terms of anxiety,depression,the level of hope,self-care ability,symptom distress,sleep quality,and quality of life.RESULTS Post-intervention,Hamilton anxiety scale,Hamilton depression scale,memory symptom assessment scale,and Pittsburgh sleep quality index scores in both groups were lower than those pre-intervention,and the observation group had lower scores than the control group(P<0.05).Herth hope index,self-care ability assessment scale-revision in Chinese,and quality of life measurement scale for patients with liver cancer scores in both groups were higher than those pre-intervention,with higher scores in the observation group compared with the control group(P<0.05).CONCLUSION Whole-process case management can effectively reduce anxiety and depression in patients with liver cancer,alleviate symptoms and problems,and improve the level of hope,self-care ability,sleep quality,and quality of life,as well as provide feasible nursing alternatives for patients with liver cancer.