Control of Nonlinear Systems With Full State Constraints

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Mohit, Mohammad Erfan | 2018

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 51197 (06)
University: Sharif University of Technology
Department: Chemical and Petroleum Engineering
Advisor(s): Shahrokhi, Mohammad
Abstract:
Consideration of constraints on process variables is an essential part in controller design. In this project, controller design methods for systems with full state constraints were studied and advantages and disadvantages of these methods were described. A controller has been designed for a nonlinear strict-feedback system with unknown dynamics, unavailable states, time-varying asymmetric state constraints, input saturation and unknown control direction. The backsteppping method has been used to design the controller. With the aim of the surface error transformation technique, the problem of full state constraints has been solved. Dynamic surface control has been used to reduce the computational load. Also, fuzzy approximators is used to deal with the problem of unknown system dynamics. Finally, the effectiveness of the proposed controller scheme was studied by two simulations. In the first simulation, a numerical system was considered. In the second simulation, proposed controller was applied on a system consisting of two continuous stirred reactors in series. Simulation results demonstrates the effectiveness of the proposed approach
Keywords:
Adaptive Control ; Fuzzy Approximation ; Input Saturation ; Linear Observer ; Unknown Control Direction ; Full State Constraints

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