عنوان

A Model-Free Control System Based on the Sliding Mode Control with Automatic Tuning Using as On-Line Parameter Estimation Approach

Number

TL55293

.Language of Text, Soundtrack etc

انگلیسی

Title Proper

A Model-Free Control System Based on the Sliding Mode Control with Automatic Tuning Using as On-Line Parameter Estimation Approach

General Material Designation

[Thesis]

First Statement of Responsibility

Islam, Md. Sariful

Subsequent Statement of Responsibility

Crassidis, Agamemnon

Name of Publisher, Distributor, etc.

Rochester Institute of Technology

Date of Publication, Distribution, etc.

2020

Text of Note

174 p.

Dissertation or thesis details and type of degree

M.S.

Body granting the degree

Rochester Institute of Technology

Text preceding or following the note

2020

Text of Note

The sliding mode control algorithm and Lyapunov-based methods, have received much attention recently due to their ability to directly handle nonlinear systems while guaranteeing closed-loop tracking stability. In this work, a unique model-free sliding mode control technique has developed solely based on previous control inputs. The new method requires only knowledge of the system order and state measurements and does not require a theoretical model of the dynamic system. Lyapunov's stability theorem is used in the controller formulation process to ensure closed-loop asymptotic stability. High frequency chattering of the control effort is reduced by using a smoothing boundary layer into the control law. Parameters variation during control operating and noise effect cannot be handled by the model-free controller if the controller tuning parameters are chosen arbitrarily since tracking performance becomes unacceptable. In addition, in previous work, the bounds of the input influence gain parameters were assumed to be known to derive the model-free controller. Therefore, in this work, a new approach is proposed for estimating the increment to the switching gain in real-time to ensure the sliding condition (which guarantees closed-loop tracking stability) is satisfied using a control law form that assumes a strictly unitary input influence gain. In formulation of estimation law, an exponential forgetting factor is combined with the least-squares estimator to ensure the updated data are used and past data are excluded. An automatic bounded forgetting tuning technique is developed to maintain the benefits of data forgetting while avoiding the possibility of gain unboundedness in absence of persistent excitation. The tuning estimator is assured that the resulting gain matrix is upper bounded regardless of the persistent excitation by suspending the data forgetting if the gain matrix reaches the specified upper bound. Simulations are performed on a series of linear and nonlinear SISO and MIMO systems with and without including actuator time-delay effects. Finally, a model is developed to simulate a quadcopter as a real-world application case. In all cases, the controller achieved perfect or near-perfect tracking performance using updated controller and on-line estimator tuning process.

Subject Term

Electrical engineering

Subject Term

Information technology

Subject Term

Mechanical engineering

Subject Term

Systems science

Islam, Md. Sariful

Crassidis, Agamemnon

Rochester Institute of Technology

Electronic name

p

[Thesis]

276903

a

Y