عنوان

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

شماره

TL55293

زبان متن نوشتاري يا گفتاري و مانند آن

انگلیسی

عنوان اصلي

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

نام عام مواد

[Thesis]

نام نخستين پديدآور

Islam, Md. Sariful

نام ساير پديدآوران

Crassidis, Agamemnon

نام ناشر، پخش کننده و غيره

Rochester Institute of Technology

تاریخ نشرو بخش و غیره

2020

متن يادداشت

174 p.

جزئيات پايان نامه و نوع درجه آن

M.S.

کسي که مدرک را اعطا کرده

Rochester Institute of Technology

امتياز متن

2020

متن يادداشت

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.

اصطلاح موضوعی

Electrical engineering

اصطلاح موضوعی

Information technology

اصطلاح موضوعی

Mechanical engineering

اصطلاح موضوعی

Systems science

مستند نام اشخاص تاييد نشده

Islam, Md. Sariful

مستند نام اشخاص تاييد نشده

Crassidis, Agamemnon

مستند نام تنالگان تاييد نشده

Rochester Institute of Technology

نام الکترونيکي

فرمت انتشار

p

نوع ماده

[Thesis]

کد کاربرگه

276903

سطح دسترسي

a

تكميل شده

Y