Robust control of non-linear systems via adaptive sliding mode technique |
Posted on:1996-03-23 | Degree:Ph.D | Type:Dissertation |
University:University of Connecticut | Candidate:Iragavarapu, Venkata R | Full Text:PDF |
GTID:1468390014487660 | Subject:Engineering |
Abstract/Summary: | |
Robust control of multi-input multi-output (MIMO) non-linear systems is considered within the frame work of adaptive control and variable structure (VS)/sliding mode control (SMC) systems. It also leads to the principle of robust adaptive approach.;In the second part, sliding mode and adaptive control approaches are combined to form a robust adaptive control methodology.;A set of new adaptation laws are defined to apply this method to the multi-input, multi-output (MIMO) non-linear systems in their canonical form with parametric uncertainties (unknown but constant) and bounded disturbances. This makes adaptive control approach applicable to a more general class of non-linear systems. The findings are presented through simulations.;In the first part of this dissertation, a modification to the saturation function of the sliding mode control is considered in the form of a backlash (dead-band) added saturation function and its merits are discussed. |
Keywords/Search Tags: | Non-linear systems, Sliding mode, Adaptive, Robust |
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