Loading...

Controller Design in the Presence of Actuator Failure

Morodvandi, Ali | 2017

816 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 50056 (06)
  4. University: Sharif University of Technology
  5. Department: Chemical and Petroleum Engineering
  6. Advisor(s): Shahrokhi, Mohammad
  7. Abstract:
  8. In control systems, actuators are subjected to faults during operation. In the present work, a controller for nonlinear systems under several restrictions and in the presence of actuator failure has been proposed. The controller is designed for large-scale multi-input multi-output (MIMO) uncertain nonlinear systems subject to unmodeled dynamics, unknown state dependent control gain functions, unknown state time varying delay, unknown subsystems interactions, unknown external disturbances and input nonlinearity. The backlash has been assumed for input nonlinearity. No restriction has been considered regarding the number of actuator failure. The backstepping technique has been applied for controller design and the dynamic surface control (DSC) has been utilized to avoid the "explosion of complexity" that occurs in the traditional backstepping control strategy. The overall close-loop stability of the system has been established and it is proved that all closed loop signals are semi-globally uniformly ultimately bounded (SGUUB) and the output tracking error converges to a small neighborhood of the origin by choosing the design parameters appropriately. Numerical and applied examples illustrate effectiveness of the proposed scheme
  9. Keywords:
  10. Actuator Failure ; Unmodeled Dynamics ; BackLash ; Multiple Input Multiple Output (MIMO)System ; Adaptive Fuzzy Control ; Fault Infinite Number ; State Time Delay ; Fault Infinite Number ; State Time Delay

 Digital Object List

 Bookmark

No TOC