robust control of systems subjected to uncertain disturbances and actuator dynamics PDF
Preview robust control of systems subjected to uncertain disturbances and actuator dynamics
ROBUST CONTROL OF SYSTEMS SUBJECTED TO UNCERTAIN DISTURBANCES AND ACTUATOR DYNAMICS Rodolfo VILLAMIZAR MEJIA ISBN: 84-689-2579-9 Dipòsit legal: GI-633-2005 Universitat de Girona Departament d’Electro`nica, Informa`tica i Automa`tica Robust Control of Systems Subjected to Uncertain Disturbances and Actuator Dynamics by Rodolfo Villamizar Mej´ıa Advisors Dr. Josep Veh´ı and Dr. Ningsu Luo DOCTORAL THESIS Girona, Spain March, 2005 Universitat de Girona Departament d’Electro`nica, Informa`tica i Automa`tica Robust Control of Systems Subjected to Uncertain Disturbances and Actuator Dynamics by Rodolfo Villamizar Mej´ıa A dissertation presented to the Universitat de Girona in partial fulfillment of the requirements of the degree of DOCTOR OF PHILOSOPHY Advisors Dr. Josep Veh´ı Dr. Ningsu Luo Girona-Spain, March, 2005 Universitat de Girona Departament de Electro`nica, Informa`tica i Automa`tica Abstract Robust Control of Systems Subjected to Uncertain Disturbances and Actuator Dynamics by Rodolfo Villamizar Mej´ıa Advisors: Dr. Josep Veh´ı and Dr. Ningsu Luo January, 2005 Girona, Spain This dissertation focuses on the design and validation of robust controllers that can effectively reducevibrationsinstructuresduetoexternaldisturbancessuchasearthquakes,strongwindsor heavydynamicloads. Thedesignofthecontrollersisbasedoncontroltheoriestraditionallyused in structural control: Lyapunov stability theory, Sliding Mode Control and Clipped-Optimal Control, another recently introduced: Backstepping Control and one that had not been used before in this control area: Quantitative Feedback Theory. The main advantage by using these techniques is that some open structural problems such as actuator dynamics, uncertain distur- bances, uncertain parameters, measurement limitation and dynamic coupling can be treated. Numerical validation of the controllers proposed is performed on typical structural models. A 10-story base isolated structure, a truck-bridge structural platform and a two-span bridge are used. Theircontrolschemecontainsinheritoneomoreopenstructuralcontrolproblems. Three experimental prototypes are used to implement the robust controllers proposed, in order to ex- perimentallyverifytheirviabilityandeffectiveness. Themaincontributionofthepresentthesis isobtainingrobuststructuralcontrollers,numericallyandexperimentallyverified,thataccount structuralcontrolproblemssuchasactuatordynamics,uncertainparameters,dynamiccoupling, measurement limitations and unknown disturbances and based on novel control techniques. To whom give sense to my life: my family My parents Pedro Jesu´s and Ana In´es My wife Martha Cecilia My brothers Orlando and Jesu´s M My sisters Luz Marina, Rubiela, Gloria Carmen and Floralba All my nephews and brothers in law
Description:The list of books you might like
