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Control of high order integrator chain systems subjected to disturbance and saturated control: A new adaptive scheme
, Article Automatica ; Volume 100 , 2019 , Pages 108-113 ; 00051098 (ISSN) ; Ahi, B ; Haeri, M ; Sharif University of Technology
Elsevier Ltd
2019
Abstract
This paper is concerned with the global stabilization of multiple integrator systems subjected to input saturation. Among the existing works, nested saturation method has been demonstrated to be an effective tool. In the present contribution, an adaptive nested saturation feedback law is proposed which takes the advantages of time varying parameters in the saturation functions along with employing the well-known extended state observer. The global stability of the proposed approach for a desired order of integrators’ chain is demonstrated. The performance of the proposed control law is compared with the existing methods in the case of a triple integrator chain. It is shown that the proposed...
Robust Control of Multiple Integrator Systems Subjected to External Disturbance and Bounded Control
, M.Sc. Thesis Sharif University of Technology ; Haeri, Mohammad (Supervisor)
Abstract
This thesis is concerned with the robust control of multiple integrator systems, subjected to input saturation and external disturbance. Since nested saturation method has been demonstrated to be an effective tool for control of a chain of integrators, a feedback law using nested saturation is proposed. In order to deal with disturbance, an extended state observer is applied to nested saturation controller and a comprehensive analysis of stability is also presented. The existence of constant parameters in the proposed controller makes the design conservative which results in performance degradation in some cases at the presence of disturbance. To overcome this issue, an adaptive approach...
Design of an ADRC Controller based on ESO to Control Size of Droplet in Micro Electro-Hydrodynamic
, M.Sc. Thesis Sharif University of Technology ; Haeri, Mohammad (Supervisor)
Abstract
This thesis is related to the identification and design of a robust controller for an electrohydrodynamic printer system. As an emerging technology, this printer uses a strong electric field to deliver fluid ink from various conductive materials to the substrate. Modeling this system is complex due to the effect of different variables on its performance. In this project, first a simplified model with numerical solution data of the COMSOL model that is validated experimentaly is proposed. Then, by presenting a new control method that is a variant of an active disturbance rejection control baesd on extended state observer has been controlled. The new control method is actually an amendment to...