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ABSTRACT
The existing off-line observer/controller identification (OCID) method for linear systems is newly extended in this paper for off-line/on-line identification of known/unknown highly nonlinear systems, and a new input-constrained active fault-tolerant tracker is developed, based on the identified linear models. The advantages of the proposed extended on-line OCID method for linear/nonlinear systems are briefly described as follows: (i) Implement novel servo-control-oriented off-line OCID methods in observer and controller canonical forms for highly nonlinear systems; (ii) Is able to overcome the discontinuity induced by the singular value decomposition (SVD) that should be carried out at each sampling instant; (iii) It directly realises the identified parameters in the observer/controller canonical forms; this simplifies the identification process; (iv) Can be practically implemented for the on-line control of an unknown nonlinear system which was constituted by an unknown open-loop plant, an existing but unknown controller and/or an unknown observer; and (v) Can be utilised to develop a new active fault-tolerant controller to compensate the immovable existing controller of the practical operating system. Finally, the servo-control-oriented off-line OCID method for the highly nonlinear PUMA 560 manipulator is shown in the illustrative examples to demonstrate the superiority of the proposed method.
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No potential conflict of interest was reported by the authors.
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Notes on contributors
Jason Sheng-Hong Tsai
Jason Sheng-Hong Tsai received both M.S. and Ph.D. in Electrical Engineering from University of Houston, Texas, U.S.A. in 1985 and 1988, respectively. Since August 1988, he has been an associate professor in Department of Electrical Engineering at National Cheng-Kung University, Taiwan, R.O.C. He has been a full professor since August 1992 and a distinguished professor since August 2002. His research interests include state-space self-tuning control, chaotic system control, partial differential system control, numerical analysis and robotics. He was (Executive) Editor for Science Development, published by National Science Council, R.O.C., Editor for Journal of the Chinese Institute of Electrical Engineering during, Associate Editor for International Journal of Systems Science and Associate Editor for The Journal of The Franklin Institute.
Tzu-Hsien Yu
Tzu-Hsien Yu received M.S. degree from National Cheng Kung University, Taiwan in 2018. His research interests include adaptive control, Observer/Kalman filter identification and generalised linear quadratic digital tracker.
Te Jen Su
Te Jen Su received the Ph.D. degree in electrical engineering from National Cheng-Kung University Tainan, Taiwan, in 1989. He is currently a Professor with the Department of Electronic Engineering, National Kaohsiung University of Sciences and Technology, Kaohsiung City, Taiwan, R.O.C. and Kaohsiung Medical University, Kaohsiung City, Taiwan, R.O.C. His research interests include intelligent control systems, embedded processor design and satellite communication systems.
Shu-Mei Guo
Shu-Mei Guo received the M.S. degree from the Department of Computer and Information Science, New Jersey Institute of Technology, Newark, in 1987 and the Ph.D. degree in Computer and Systems Engineering from University of Houston, Houston, TX, in May 2000. Since June 2000, she has been an assistant professor with the Department of Computer System and Information Engineering, National Cheng-Kung University, Tainan, Taiwan, and since August 2010, she has been a full professor. Her research interests include various applications on evolutionary programming, chaos systems, Kalman filtering, fuzzy methodology, neural network, sampled-data systems and computer and systems engineering.
Leang-San Shieh
Leang-San Shieh received his B.S. degree from National Taiwan University, Taiwan, in 1958, and his M.S. and Ph.D. degrees from the University of Houston, Houston, Texas, USA, in 1968 and 1970, respectively. He was a professor in the Department of Electrical and Computer Engineering from 1971 to 2011 and a director of the Program of Computer and Systems Engineering from 1988 to 2011. Since 2011, he has been a professor emeritus of the Department of Electrical and Computer Engineering, University of Houston. He was the recipient of more than 10 College Outstanding Teacher Awards, the 1973 and 1997 College Teaching Excellence Awards, the 1988 College Senior Faculty Research Excellence Award and the 2003–2004 Fluor Daniel Faculty Excellence Award, the highest award given in the College, from the Cullen College of Engineering. In addition, he was the recipient of the 1976 University Teaching Excellence Award and the 2001–2002 El Paso Faculty Achievement Award in Teaching and Scholarship from the University of Houston. Furthermore, he received the Honor of Merit from Instituto Universitario Politecnico, Republic of Venezuela in 1978. He has co-authored more than 300 peer-reviewed journal articles. His fields of interest are hybrid control of linear and nonlinear systems.
Jose I. Canelon
Jose I. Canelon received a B.S. degree in Electrical Engineering in 1994 and an M.S. degree in Applied Computing in 1997, both from the University of Zulia in Maracaibo, Venezuela, and a Ph.D. degree in Electrical Engineering in 2004 from the University of Houston, Houston, Texas, U.S.A. He has been a professor of the Electrical Engineering School of the University of Zulia from 1994. In the same university he was the coordinator of the Master of Engineering Program in Process Control from 2009 to 2016, and the Director of the Research Institute in Applied Calculus from 2013 to 2018. His main research areas of interest include: design of advanced control strategies, identification, control and optimisation of systems with complex dynamics (with recent applications in oil recovery processes and artificial lift systems) and digital control of continuous-time systems. He has been involved in funded research projects, being the principal researcher in some of them. He has co-authored more than 20 papers in peer-reviewed journals and more than 15 conference presentations. He was co-recipient of the Venezuelan National Award to the best scientific, technological and innovation work, given by the Ministry of Science and Technology, in 2003 and 2014.