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Event-Triggered Adaptive Control of a Class of Uncertain Nonlinear Systems

Ghazi Saeedi, Hamid Reza | 2021

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  1. Type of Document: Ph.D. Dissertation
  2. Language: Farsi
  3. Document No: 54773 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Tavazoei, Mohammad Saleh
  7. Abstract:
  8. Considering uncertainty is of great importance in the design of controllers for dynamical systems because the existence of uncertainty is inevitable in the modeling of almost all real-world systems. There are numerous methods and strategies for dealing with the control of uncertain systems in control systems theory including adaptive and robust approaches. The former one is more suitable for cases in which the information about uncertainty is very poor compared to robust techniques that are applicable in the cases more data is available about uncertainty. For instance, where there is no data about the direction in the actuator model, adaptive control methods are the only applicable choices. With the advent of network control systems, some other practical limitations also should be addressed in control systems design. For example, in such cases, there is usually one communication channel shared between multiple control systems which of course has limited bandwidth. Hence, it is crucial to update the control signal only when it is necessary. To address problem of unnecessary updates, we need to update the control signal generally in an aperiodic manner, compared to the traditional digital control approaches where there is always a constant sample time between consecutive update intervals. The control systems designed based on these approaches are called event-triggered control systems. Since dealing with event-triggered control of nonlinear systems is crucial in practical network control systems, this thesis tries to provide an effective method for event-triggered control of uncertain nonlinear systems. This thesis introduces some techniques for event-triggered control of nonlinear systems via both adaptive and robust approaches. To do this, some concepts like indefinite Lyapunov, Lyapunov redesign, radial basis functions, contracting control theory are reviewed from the existing literature and these concepts are employed for the derivation of our main results. An important issue for the design of an appropriate controller is to recognize whether these approaches are applicable and what are their advantages and disadvantages. To address this issue, we also compared our proposed methods with the existing ones
  9. Keywords:
  10. Nonlinear Control ; Nonlinear Systems ; Uncertainty ; Event-Triggered Strategies ; Adaptive Control

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