Controller ِِDesign for Switched Systems

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Malek, Alireza | 2017

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 50067 (06)
University: Sharif University of Technology
Department: Chemical and Petroleum Engineering
Advisor(s): Shahrokhi, Mohammad; Vafa, Ehsan
Abstract:
The aim of this thesis is investigating the approaches proposed for controlling switched systems and designing a controller for MIMO switched systems. The system under consideration is in strict feedback form with unknown dynamics, unmodeled dynamics, state-dependent delays and disturbances and input nonlinearity (saturation, backlash, dead-zone). In this work, the unknown dynamics are estimated by an intelligent approximator. The arbitrary switching law is assumed and for control purpose the switching instances are not required. The backstepping technique has been utilize for controller design and by using a nonnegative switching function and a common lyapunov function, the closed loop stability has been stablished. It has been shown that the overall system is semi globally uniformly ultimately bounded and the tracking error approaches to a prespecified tracking error bound. The effectiveness of the proposed controller has been demonstrated by simulation study
Keywords:
Unmodeled Dynamics ; Adaptive Control ; Input Nonlinearity ; Switching ; State Delay Dynamics ; Intelligent Approximator ; Arbitray Switching Law

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