New Observer/Kalman Filter/Controller Identification Methods and Their Applications to Input-Constrained Control and Fault-Tolerant Control

論文翻譯標題: 新型觀測器/卡爾曼濾波器/控制器鑑別法與其應用於輸入限制控制及容錯控制
  • 吳 振胤

學生論文: Doctoral Thesis


Via the observer-canonical form (O-CF) this dissertation proposes a novel minimal realization on-line observer/Kalman filter identification (OKID) method and an improved off-line observer/controller identification (OCID) method for unknown stochastic systems integrated with optimal linear quadratic tracker design to obtain good state estimation and tracking performances for real-time active input-constrained fault- tolerant control (FTC) and passive FTC respectively First a new current-observer-based input-constrained discrete linear quadratic tracker (DLQT) for an unknown system with a direct transmission term is proposed The main contributions of this sub-topic include (i) to formula a new input-constrained cost function and its corresponding Riccati equation (ii) to propose a systematic mechanism for tuning the weighting matrix in the cost function and (iii) to overcome the input-output causal problem by the proposed realization Second an alternative current-observer-based input-constrained tracker for an unknown system with a direct transmission term based on the digital redesign approach is proposed Its novelties include (i) to propose a new linear quadratic analog tracker (LQAT) and a new linear quadratic digital tracker (LQDT) for the continuous-time and sampled-data systems respectively with a direct transmission term under input constraint and (ii) to propose an alternative tuning mechanism to select the weighting matrix in the cost function Third a novel on-line minimal realization OKID method is presented for real-time control of unknown stochastic systems and it is applied for the design of a novel input-constrained active fault-tolerant tracker (FTT) Finally a new off-line minimal-realization canonical OCID method is proposed which is able to (i) compensate the degrading tracking performance of an existing unknown controller and/or (ii) compensate the undesirable operating controller Some illustrative examples are given to demonstrate the effectiveness of the proposed methodologies
獎項日期2015 七月 17
監督員Jason Sheng-Hon Tsai (Supervisor)