Adaptive-Robust Control of Dynamic Systems Using Orthonormal Filters

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Hoshyar, Mohsen | 2012

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 44238 (05)
University: Sharif University of Technology
Department: Electrical Engineering
Advisor(s): sadati, Nasser
Abstract:
In this research, using orthonormal filters, an adaptive-robust controller is designed for a class of SISO dynamic systems for which the input and output datas are available. First, Laguerre filters are combined with orthonormal Chebyshev functions to increase the capability of Laguerre filters in identification of systems with unknown dynamics. Then, the resulted Lagueree-Chebyshev structure is used for closed loop identification of the system and controller is designed. Moreover, RBF neural networks are used to approximate some nonlinear terms appearing in the controller design process.
Finally, in order to minimize the control effort, a new approach is proposed that leads to a set of differential-algebraic equations (DAEs). The solution of this set of equations results in an adaptation law for updating the Laguerre- Chebyshev weights to ensure output tracking and minimize the control effort
Keywords:
Radial Basis Neural Network ; Adaptive Robust Control ; Dynamical Systems ; Laguerre Orthonormal Filter ; Chebyshev Orthonormal Fuction

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