Design of an Adaptive Controller for Uncertain Fractional-order Systems Subject to Actuator Failure

Dolatabadi, Shayesteh | 2021

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 54372 (06)
  4. University: Sharif University of Technology
  5. Department: Chemical and Petroleum Engineering
  6. Advisor(s): Shahrokhi, Mohammad
  7. Abstract:
  8. The objective of this research is to design an adaptive controller for a class of fractional-order nonlinear systems in the strict-feedback form with unmodeled dynamics. Actuator saturation and actuator fault are also considered. All of the system states are assumed to be measurable, and all the sensors can be faulty. Fractional-order systems are chosen because, in the modeling of physical systems, the fractional-order calculus is often preferable to the classical integer-order calculus. The controller is designed by using the backstepping design technique. The fuzzy logic systems are used to eliminate the problem of "explosion of complexity" in the conventional backstepping method and also to estimate the unknown system dynamics. By using the Lyapunov direct method, it is proved that the closed-loop system is stable in the sense of Lyapunov and by properly choosing the design parameters, the tracking error can be made as small as possible. The effectiveness of the proposed controller has been demonstrated through simulating a numerical and two practical examples
  9. Keywords:
  10. Fractional Order System ; Fuzzy Logic ; Actuator Failure ; Sensor Fault ; Adaptive Fault Tolerant Controller ; Adaptive Controller

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