Dissertations / Theses on the topic 'Robust Nonlinear Adaptive Control'
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Nguyen, Canh Quang Mechanical & Manufacturing Engineering Faculty of Engineering UNSW. "Switching robust adaptive control in nonlinear mechanical systems." Awarded by:University of New South Wales. School of Mechanical & Manufacturing Engineering, 2006. http://handle.unsw.edu.au/1959.4/24318.
Full textTrebi-Ollennu, Ashitey. "Robust nonlinear control, designs using adaptive fuzzy systems." Thesis, Cranfield University, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.296492.
Full textLopez, Brett Thomas. "Adaptive robust model predictive control for nonlinear systems." Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/122395.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (pages 115-124).
Modeling error and external disturbances can severely degrade the performance of Model Predictive Control (MPC) in real-world scenarios. Robust MPC (RMPC) addresses this limitation by optimizing over control policies but at the expense of computational complexity. An alternative strategy, known as tube MPC, uses a robust controller (designed offline) to keep the system in an invariant tube centered around a desired nominal trajectory (generated online). While tube MPC regains tractability, there are several theoretical and practical problems that must be solved for it to be used in real-world scenarios. First, the decoupled trajectory and control design is inherently suboptimal, especially for systems with changing objectives or operating conditions. Second, no existing tube MPC framework is able to capture state-dependent uncertainty due to the complexity of calculating invariant tubes, resulting in overly-conservative approximations. And third, the inability to reduce state-dependent uncertainty through online parameter adaptation/estimation leads to systematic error in the trajectory design. This thesis aims to address these limitations by developing a computationally tractable nonlinear tube MPC framework that is applicable to a broad class of nonlinear systems.
"This work was supported by the National Science Foundation Graduate Research Fellowship under Grant No. 1122374, by the DARPA Fast Lightweight Autonomy (FLA) program, by the NASA Convergent Aeronautics Solutions project Design Environment for Novel Vertical Lift Vehicles (DELIVER), and by ARL DCIST under Cooperative Agreement Number W911NF- 17-2-0181"--Page 7.
by Brett T. Lopez.
Ph. D.
Ph.D. Massachusetts Institute of Technology, Department of Aeronautics and Astronautics
Zhang, Zhen. "Adaptive robust periodic output regulation." Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1187118803.
Full textFisher, James Robert. "Aircraft control using nonlinear dynamic inversion in conjunction with adaptive robust control." Texas A&M University, 2004. http://hdl.handle.net/1969.1/1515.
Full textMuenst, Gerhard. "Mass movement mechanism for nonlinear, robust and adaptive control of flexible structures." Ohio : Ohio University, 2001. http://www.ohiolink.edu/etd/view.cgi?ohiou1174061987.
Full textPoon, Kai-yin Kenny. "An investigation on the application of nonlinear robust adaptive control theory in AC/DC power systems." Click to view the E-thesis via HKUTO, 2007. http://sunzi.lib.hku.hk/hkuto/record/B38898949.
Full textHayakawa, Tomohisa. "Direct Adaptive Control for Nonlinear Uncertain Dynamical Systems." Diss., Georgia Institute of Technology, 2003. http://hdl.handle.net/1853/5292.
Full textPatre, Parag. "Lyapunov-based robust and adaptive control of nonlinear systems using a novel feedback structure." [Gainesville, Fla.] : University of Florida, 2009. http://purl.fcla.edu/fcla/etd/UFE0024807.
Full textPoon, Kai-yin Kenny, and 潘啟然. "An investigation on the application of nonlinear robust adaptive control theory in AC/DC power systems." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2007. http://hub.hku.hk/bib/B38898949.
Full textZeng, Chao. "Develop a robust nonlinear controller for large aircraft by applying NDI, SMC and adaptive control." Thesis, Cranfield University, 2012. http://dspace.lib.cranfield.ac.uk/handle/1826/7949.
Full textMaalouf, Divine. "Contribution to nonlinear adaptive control of low inertia underwater robots." Thesis, Montpellier 2, 2013. http://www.theses.fr/2013MON20196/document.
Full textUnderwater vehicles have gained an increased interest in the last decades given the multiple tasks they can accomplish in various fields, ranging from scientific to industrial and military applications. In this thesis, we are particularly interested in the category of vehicles having a high power to weight ratio. Different challenges in autonomous control of such highly unstable systems arise from the inherent nonlinearities and the time varyingbehavior of their dynamics. These challenges can be increased by the low inertia of this class of vehicles combined with their powerful actuation. A self tuning controller is therefore required in order to avoid any performance degradation during a specific mission. The closed-loop system is expected to compensate for different kinds of disturbances or changes in the model parameters. To solve this problem, we propose in this work the design,analysis and experimental validation of different control schemes on an underwater vehicle. Classical methods are initially proposed, namely the PID controller and the nonlinear adaptive state feedback (NASF) one, followed by two more advanced schemes based on the recently developed L1 adaptive controller. This last method stands out among the other developed ones in its particular architecture where robustness and adaptation are decoupled. In this thesis, the original L1 adaptive controller has been designed and successfullyvalidated then an extended version of it is proposed in order to deal with the observed time lags occurring in presence of a varying reference trajectory. The stability of this latter controller is then analysed and real-time experimental results for different operating conditions are presented and discussed for each proposed controller, assessing their performance and robustness
Andrecioli, Ricardo. "Grasped Object Detection for Adaptive Control of a Prosthetic Hand." University of Akron / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=akron1364481779.
Full textYan, Xinming. "Development of robust control based on sliding mode for nonlinear uncertain systems." Thesis, Ecole centrale de Nantes, 2016. http://www.theses.fr/2016ECDN0012.
Full textThis work deals with the development of control laws for nonlinear uncertain systems based onsliding mode theory. The standard sliding mode control approaches are state feedback ones, in which the sliding variable and its time derivatives are required. This first objective of this thesis is to propose high order sliding mode control laws with a reduced use of sliding variable time derivatives. The contributions are made for the second and third order sliding mode control. The second objective is to combine the proposed control laws with a gain adaptation mechanism. The use of adaptive gain law allows to simplify the tuning process, to reduce the convergence time and to improve the accuracy. Finally, the applicability of the proposed approaches is shown on IRCCyN pneumatic benchmark. Applications are also made on 3DOF flying system
Zeng, Sheng. "Robust Adaptive Control Design for Classes of SISO and MIMO Linear Systems Under Noisy Output Measurements." University of Cincinnati / OhioLINK, 2007. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1172767648.
Full textLIUZZO, STEFANO. "Adaptive learning control of nonlinear systems with applications to robot manipulators." Doctoral thesis, Università degli Studi di Roma "Tor Vergata", 2008. http://hdl.handle.net/2108/578.
Full textMurphy, Ian Patrick. "Modeling and Control of Flapping Wing Robots." Thesis, Virginia Tech, 2013. http://hdl.handle.net/10919/19275.
Full textMaster of Science
Zhao, Qingrong. "Reduced-Order Robust Adaptive Controller Design and Convergence Analysis for Uncertain SISO Linear Systems with Noisy Output Measurements." University of Cincinnati / OhioLINK, 2007. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1194564628.
Full textKhalili, Mohsen. "Distributed Adaptive Fault-Tolerant Control of Nonlinear Uncertain Multi-Agent Systems." Wright State University / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=wright1503622016617833.
Full textWang, Zhao. "Lyapunov-Based Control Design for Uncertain MIMO Systems." Doctoral diss., University of Central Florida, 2012. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/5558.
Full textPh.D.
Doctorate
Electrical Engineering and Computer Science
Engineering and Computer Science
Electrical Engineering
Bennehar, Moussab. "Some contributions to nonlinear adaptive control of PKMs : from design to real-time experiments." Thesis, Montpellier, 2015. http://www.theses.fr/2015MONTS033/document.
Full textParallel Kinematic Manipulators (PKMs) have gained an increased popularity in the last few decades. This interest has been stimulated by the significant advantages of PKMs compared to their traditional serial counterparts, with respect to some specific industrial tasks requiring high accelerations and accuracy. However, to fully exploit their potential and to get the most of their capabilities, a long path is still to be covered. In addition to mechanical design, calibration and optimization of the structure, efficient control development plays an essential role in improving the overall performance of PKMs. However, PKMs are known for their highly nonlinear dynamics which increases considerably when operating at high accelerations leading to mechanical vibrations. Moreover, uncertainties are abundant in such systems due to model simplifications, the wear of the components of the robot and the variations of the environment. Furthermore, their coupled dynamics and actuation redundancy in some mechanisms give rise to complex and challenging control issues. Consequently, the developed control schemes should take into account all the previously mentioned issues and challenges. The main goal of this thesis lies in the proposal of new adaptive control schemes for PKMs while considering their characteristics and particularities in order to improve their tracking capabilities. Moreover, the developed control strategies should be first validated through numerical simulations, then through real-time experiments on available PKMs. Within this context, three main contributions are proposed in this thesis. First, a new class of adaptive controllers with nonlinear time-varying feedback gains is proposed. The second contribution lies in an adaptive-based extended version of RISE robust feedback control strategy. For the third contribution, the recently developed L1 adaptive control strategy is applied for the first time on a PKM, followed by two novel model-based extensions. Numerical simulations as well as real-time experiments on various PKMs prototypes are provided and discussed. All the proposed controllers are validated for different operating conditions in order to show their relevance and efficiency
Mehmood, Adeel. "Modeling, simulation and robust control of an electro-pneumatic actuator for a variable geometry turbocharger." Phd thesis, Université de Technologie de Belfort-Montbeliard, 2012. http://tel.archives-ouvertes.fr/tel-00827445.
Full textKarasalo, Maja. "Data Filtering and Control Design for Mobile Robots." Doctoral thesis, KTH, Optimeringslära och systemteori, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-11011.
Full textQC 20100722
Magnani, Guido. "Advanced satellite attitude control strategies under actuation constraints and multiple sources of disturbance." Electronic Thesis or Diss., Toulouse, ISAE, 2024. http://depozit.isae.fr/theses/2024/2024_Magnani_Guido_D.pdf.
Full textIn a scenario of highly autonomous geostationary satellites, with self-assembly and self-maintenance capabilities, manipulator arms perturbations coupled with fuel slosh dynamics represents a significant risk of performance degradation for the satellite attitude and orbit control system. While passive fuel slosh damping solutions and manipulator arm disturbances compensators exist by their own, a unique active control solution capable of rejecting the perturbations while optimally preventing the actuators saturation is lacking and of great interest in the space industry for weight, cost and complexity of manufacturing reduction. This study explores the integration of $H_{infty}$-based robust control and model reference adaptive control techniques with reference governor schemes. The objective is to propose a unique control solution to guarantee precise satellite attitude control in the presence of unmodeled perturbations and actuator constraints. The theoretical advancements from this research also extend to scenarios such as handling propeller failures in quadrotors under state and input constraints and optimizing the design of the guidance modes for satellite missions like the CNES Microcarb mission
VERRELLI, CRISTIANO MARIA. "NON LINEAR CONTROL DESIGN FOR INDUCTION MOTORS AND SYNCHRONOUS GENERATORS." Doctoral thesis, Università degli Studi di Roma "Tor Vergata", 2005. http://hdl.handle.net/2108/179.
Full textThe thesis incorporates recent advances in the design of nonlinear control laws for induction motors and synchronous generators: robust, adaptive, state or output feedback control techniques are used for both these electro-mechanical systems which are modelled by ¯nite dimensional, deterministic ordinary differential equations and are possibly affected by uncertainties, such as unknown constant and time-varying parameters. Induction motors, which, due to their simpler construction, are more reliable and less expensive than those permanent magnet, switched reluctance and d.c. motors are di±cult to control for several reasons: their dynamics are intrinsically nonlinear and multivariable (two control inputs and two outputs to be controlled); not all of the state variables and not all of the outputs to be controlled may be available for feedback; there are critical uncertain parameters such as load torque, which is typically unknown in all electrical drives, and rotor resistance, which, due to rotor heating, may vary up to 100% during operations. The availability of low cost powerful digital signal processors and advances in power electronics made complex algorithms implementable even for medium- and small-size induction motors, which, in this way, could replace currently used motors provided that high dynamic tracking performance along with highpower efficiency are achieved: this is what motivated intense research efforts in induction motor control design. In analogous way, transient stabilization and voltage regulation for power systems are classically difficult control problems: all the dynamic models which have been developed for a single machine connected to an in¯nite bus show an intrinsic nonlinear nature and, consequently, there are several stable and unstable equilibrium points. Early studies aimed at determining the stability regions of desired operating conditions by means of Lyapunov functions in order to study the effect of perturbations. In fact, sudden mechanical and electrical perturbations may drive the system outside its stability region and force the generator to be disconnected from the network. The transient stabilization and voltage regulation problem consists in the design of an excitation control which keeps the generator speed close to the synchronous speed when perturbations occur (transient stabilization) and regulates the output voltage to the corresponding reference value in the case of permanent constant perturbations (voltage regulation). To this purpose, linear controllers are actually employed which are designed on the basis of linear approximations around operating conditions: only small perturbations and deviations from operating conditions can be handled. It is clear that nonlinear controllers are required to handle the large perturbations that typically occur in power systems. The thesis is divided into two parts: Part I (induction motor) consists of Chapters 2, 3 and 4 while Part II (synchronous generator) consists of Chapters 5 and 6. Chapters 2 and 3 address the problem of controlling a speed-sensorless induction motor: the existence of a global controller is explored in Chapter 2, while a nonlinear adaptive control scheme is developed in Chapter 3. Chapter 4 is devoted to nonlinear control design for a sensorless induction motor: an output feedback control algorithm is proposed. Chapters 5 and 6 address the problem of controlling a synchronous generator with parameter uncertainty: a nonlinear robust adaptive transient stabilizing control is presented in Chapter 5, while Chapter 6 proposes a nonlinear robust adaptive transient stabilizing and output regulating control algorithm.
Sartori, Natal Guilherme. "Control of parallel robots : towards very high accelerations." Thesis, Montpellier 2, 2012. http://www.theses.fr/2012MON20085/document.
Full textThe main objective of this work is to propose control strategies performant and robust towards uncertainties for Delta-like parallel robots, which are designed to perform important and demanding industrial tasks, such as packaging, laser cutting, etc. The most important difficulties to guarantee the good tracking performance of these manipulators for very high accelerations with the best possible precision, while maintaining such performance independently of the operational case (e.g. with different load conditions, different trajectories, etc.) are their coupled actuation, the increase of their high nonlinear dynamics and the problem of mechanical vibrations with the increase of the involved accelerations, the presence of uncertainties in the model/environment and the redundant actuation when applicable. In this thesis, different control schemes and state observers were proposed and experimentally implemented on two Delta-like robots, namely the Par2 (non-redundant) and the R4 (redundantly actuated) parallel manipulators. For the former, a nonlinear/adaptive Dual Mode controller was proposed in the joint space, complied with three different state observers for the estimation of joint velocities: a Lead-lag based observer, an Alpha-beta-gamma observer and the High-gain observer. For the latter, firstly a dual-space feedforward controller was proposed for the compensation of its dynamics (with which a maximum of 100G of acceleration was reached), then a dual-space adaptive controller was proposed in order to automatically estimate the parameters of the system in real-time, thus guaranteeing its good performance independently of the experimental scenario. The stability analysis of Par2 robot under the control of the Dual Mode controller and the R4 robot under the control of the dual-space adaptive controller are provided, simulations were performed and the experimental results confirm the good performance of the proposed control schemes
Basbas, Hedi. "Commandes non linéaires robustes et adaptatives des éoliennes flottantes." Electronic Thesis or Diss., Bourgogne Franche-Comté, 2023. http://www.theses.fr/2023UBFCA022.
Full textHaving optimized terrestrial technologies, the wind industry is now turning to marine winds, which offer greater speed and less turbulence. Floating wind turbines (FWTs), often anchored in waters over 30 m deep, rely on floating bases for cost reasons. These platforms face challenges related to the complex disturbances and dynamics caused by the interaction between wind and waves. Thus, the design of adaptive and robust control systems is essential to manage these challenges specifically to floating wind turbines. This thesis aims to achieve three major objectives. Firstly, it aims to develop a nonlinear model for floating wind turbines, specifically control-oriented model, which is essential for the development of efficient control systems. The second objective focuses on the synthesis of stable, robust and adaptive control laws, based on the previously developed nonlinear model. Finally, the third objective concerns the creation of a HIL platform specific to floating wind turbines, designed to test and validate the control laws in real time. In this way, we have developed a fully analytical nonlinear model, essential for the synthesis of nonlinear controls, marking a significant contribution of this thesis. Using this model, various fixed gain sliding-mode controllers were developed for operating region 3, where the wind speed is high enough to allow the generator to reach its rated speed. In this context, the controllers are designed to adjust the blade angle to ensure platform stability, in particular the pitch angle, and to maximize electricity production. They also maintain generator speed at nominal levels with minimal oscillations, thus reducing fatigue on the structure, blades and catenary lines. This work demonstrated the performance and capability of fixed-gain sliding-mode controls for EFs through a comparison with a reference controller in the literature. Therefore, in a second step, several adaptive sliding mode controllers were implemented in order to outperform the reference controller. Finally, the main challenge of this thesis was the real-time emulation of the OpenFAST high-fidelity simulator for EFs on a development board. The paper describes in detail the emulation process on a National Instruments compactRIO board. It guides the reader from the board selection phase, through the complex stages of compiling and modifying computer code, to the completion of the hardware-in-the-loop platform
Fu, Ye. "Robust adaptive control." Thesis, University of British Columbia, 1989. http://hdl.handle.net/2429/30574.
Full textApplied Science, Faculty of
Electrical and Computer Engineering, Department of
Graduate
Fahmy, Sherif Farid Fahmy. "Nonlinear robust H∞ control." Thesis, University of Sheffield, 2006. http://etheses.whiterose.ac.uk/14887/.
Full textYoon, Tae-Woong. "Robust adaptive predictive control." Thesis, University of Oxford, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.359527.
Full textSamavat, Mohmoud. "Robust control of nonlinear systems." Thesis, University of Sheffield, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.327647.
Full textRysdyk, Rolf T. "Adaptive nonlinear flight control." Diss., Georgia Institute of Technology, 1998. http://hdl.handle.net/1853/12108.
Full textMunnae, Jomkwun. "Uncalibrated robotic visual servo tracking for large residual problems." Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/37219.
Full textBekit, Biniam Weldai. "Robust nonlinear control of robot manipulators." Thesis, King's College London (University of London), 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.321945.
Full textChudoung, Jerawan. "Robust Control for Hybrid, Nonlinear Systems." Diss., Virginia Tech, 2000. http://hdl.handle.net/10919/26983.
Full textPh. D.
Barbosa, William de Souza. "Controle de um sistema de eletroestimulação funcional." Universidade do Estado do Rio de Janeiro, 2014. http://www.bdtd.uerj.br/tde_busca/arquivo.php?codArquivo=8133.
Full textThis dissertation will present the use of nonlinear control techniques, such as adaptive and robust control in order to design a Functional Electrical Stimulation (FES) system developed by Biomedical Engineering Laboratory at COPPE/UFRJ. Basically, a FES on the stimulation of motor nerves via skin electrodes in order to contract or stretch the muscles such that the amplitude and quality of the limbs movement can be maintained, reducing muscular atrophy as well. Consequently, the muscle strength can be improved and new neural pathways may be activated. Here, the goals of the proposed control system is to move the arm of the patient via electrical stimulation to achieve some desired trajectory related to the elbow angles of reference. Since we have a priori no deep knowledge of human neuro-motor model, the use of advanced and robust control schemes seems to be useful to stabilize this kind of systems which may be completely different for each individual, being time-varying, nonlinear, uncertain and subject to disturbances. The main objective is to experimentally verify the effectiveness of the proposed nonlinear and adaptive controllers when compared to classical ones in order to achieve faster, robust and better control performance. It is expected to spread the application of adaptive and robust controllers and other intelligent system tools, such as genetic algorithms, to the field of biological and biomedical engineering. Thus, we believe that the developed control system may help the improvement of the patients treatment involved in the research carried out by Biomedical Engineering Laboratory at COPPE/UFRJ.
Ydstie, Birger Erik. "Robust adaptive control of chemical processes." Thesis, Imperial College London, 2011. http://hdl.handle.net/10044/1/8295.
Full textMarriott, Jack. "Adaptive robust fuzzy logic control design." Thesis, Georgia Institute of Technology, 1996. http://hdl.handle.net/1853/15819.
Full textCantalloube, Hubert. "Robust adaptive control : a Bezout approach." Thesis, McGill University, 1989. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=74272.
Full textThe stabilization by a class of robust adaptive controllers, of non-necessarily minimum phase stochastic linear systems (with possibly unknown or heterogeneous delay) is proved. The plants considered may be slowly time varying.
Simulations permit to emphasize the interest of our approach. Compared with the standard Recursive Least Squares and Stochastic Gradient Algorithms, the algorithm we introduce, is more satisfying.
Compared with fixed control techniques such as H$ sp infty$-optimization, the adaptive control is shown to have at least a wider range of use, but lower performances.
Song, Qing. "Design of robust adaptive control systems." Thesis, University of Strathclyde, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.331971.
Full textEl-Rifai, Khalid 1979. "Robust adaptive control of switched systems." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/39897.
Full textIncludes bibliographical references (leaves 141-149).
In this thesis, robust adaptive controllers are developed for classes of switched nonlinear systems. Switched systems are those governed by differential equations, which undergo vector field switching due to sudden changes in model characteristics. Such systems arise in many applications such as mechanical systems with contacts, electrical systems with switches, and thermal-fluidic systems with valves and phase changes. The presented controllers guarantee system stability, under typical adaptive control assumptions, for systems with piecewise differentiable bounded parameters and piecewise continuous disturbances without requiring a priori knowledge on such parameters or disturbances. The effect of plant variation and switching is reduced to piecewise continuous and impulsive inputs acting on a Bounded Input Bounded State (BIBS) stable closed loop system. This, in turn, provides a separation between the robust stability and robust performance control problems. The developed methodology provides clear guidelines for steady-state and transient performance optimization and allows for parameter scheduling and multiple model controller adjustment techniques to be utilized with no stability concerns. The results are illustrated for various systems including contact-based robotic manipulation and Atomic Force Microscope (AFM) based nano-manipulation.
by Khalid El Rifai.
Ph.D.
Watanabe, Yoko. "Stochastically optimized monocular vision-based navigation and guidance." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2007. http://hdl.handle.net/1853/22545.
Full textCommittee Chair: Johnson, Eric; Committee Co-Chair: Calise, Anthony; Committee Member: Prasad, J.V.R.; Committee Member: Tannenbaum, Allen; Committee Member: Tsiotras, Panagiotis.
Walchko, Kevin J. "Robust nonlinear attitude control with disturbance compensation." [Gainesville, Fla.]: University of Florida, 2003. http://purl.fcla.edu/fcla/etd/UFE0000818.
Full textYao, Liqun. "Robust nonlinear tracking control of robotic manipulators." Thesis, University of Leicester, 1999. http://hdl.handle.net/2381/30175.
Full textWilson, Giles A. "Robust nonlinear control of flexible joint manipulators." Thesis, Queen's University Belfast, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.241525.
Full textMills, Russell Edward. "Robust backstepping control of nonlinear uncertain systems." Thesis, University of Sheffield, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.246989.
Full textDehesa, Valencia Julio César. "INTERVAL ROBUST CONTROL FOR NONLINEAR FLAT SYSTEMS." Doctoral thesis, Universitat Politècnica de València, 2013. http://hdl.handle.net/10251/27724.
Full textDehesa Valencia, JC. (2013). INTERVAL ROBUST CONTROL FOR NONLINEAR FLAT SYSTEMS [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/27724
Palancia
SIGNORILE, MARIA CARMELA. "Robust control of nonlinear systems from data." Doctoral thesis, Politecnico di Torino, 2012. http://hdl.handle.net/11583/2496767.
Full textBundell, G. A. "Robust decentralized adaptive control in the manipulator control problem." Thesis, University of Cambridge, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.355669.
Full textTjønnås, Johannes. "Nonlinear and Adaptive Dynamic Control Allocation." Doctoral thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2008. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-2320.
Full textThis work addresses the control allocation problem for a nonlinear over-actuated time-varying system where parameters a¢ ne in the actuator dynamics and actuator force model may be assumed unknown. Instead of optimizing the control allocation at each time instant, a dynamic approach is considered by constructing update-laws that represent asymptotically optimal allocation search and adaptation. A previous result on uniform global asymptotic stability (UGAS) of the equilibrium of cascaded time-varying systems, is in the thesis shown to also hold for closed (not necessarily compact) sets composed by set-stable subsystems of a cascade. In view of this result, the optimal control allocation approach is studied by using Lyapunov analysis for cascaded set-stable systems, and uniform global/local asymptotic stability is guaranteed for the sets described by; the system dynamics, the optimizing allocation update-law and the adaptive update-law.
The performance of the proposed control allocation scheme is demon- strated throughout the thesis by simulations of a scaled-model ship manoeuvred at low-speed. Furthermore, the application of a yaw stabilization scheme for an automotive vehicle is presented. The stabilization strategy consists of; a high level module that deals with the vehicle motion control objective (yaw rate reference generation and tracking), a low level module that handles the braking control for each wheel (longitudinal slip control and maximal tyre road friction parameter estimation) and an intermediate level dynamic control allocation module. The control allocation module generates longitudinal slip reference for the low level brake controller and commands front wheel steering angle corrections, such that the actual torque about the yaw axis tends to the desired torque calculated by the high level module. The conditions for uniform asymptotic stability are given and the scheme has been implemented in a realistic nonlinear multi-body vehicle simulation environment. The simulation cases show that the control strategy stabilizes the vehicle in extreme manoeuvres where the nonlinear vehicle yaw dynamics otherwise become unstable in the sense of over- or understeering.