Robust control design for mechatronic systems having non-symmetric input gain matrix için kapak resmi
Robust control design for mechatronic systems having non-symmetric input gain matrix
Başlık:
Robust control design for mechatronic systems having non-symmetric input gain matrix
Yazar:
Bıdıklı, Barış, author.
Yazar Ek Girişi:
Fiziksel Tanımlama:
xv, 134 leaves: color illustraltions.+ 1 computer laser optical disc.
Özet:
Their highly uncertain and complex structures make the control problem of mechatronic systems a challenging task. This problem becomes more challenging when some special cases that make the input gain matrix of these systems non–symmetric are taken into account. Solving this problem is the main motivation of this dissertation. To realize this purpose, a robust controller that is independent from the structure of the input gain matrix is designed. Since, mechatronic systems are modeled as multi–input multi–output nonlinear systems, this design is realized for a broader class of these type of systems. Asymptotic stability of the designed controller is proven via Lyapunov–based arguments. Since, control gain adjusting process is one of the most restrictive and most important aspects of this design, designed controller is supported by proposing a self–tuning method. After completing the control design process by proposing this self–tuning method, three fundamentally different mechatronic systems are utilized to demonstrate the effectiveness of the designed controller in conjunction with the proposed self–tuning method. Position and orientation control of dynamically positioned surface vessel and unactuated surface vessel manipulated by 6 uni–directional tugboats under the influence of added mass effects, and attitude control of small–scaled unmanned helicopter are ensured by utilizing a lower order version of the designed controller. Each of these mechatronic systems constitutes an example of different cases that make input gain matrix non–symmetric. Performance of the designed controller and proposed self–tuning method are demonstrated via simulations and experiments.
Konu Başlığı:

Yazar Ek Girişi:
Tek Biçim Eser Adı:
Thesis (Doctoral)--İzmir Institute of Technology: Electronics and Communication Engineering.

İzmir Institute of Technology: Electronics and Communication Engineering--Thesis (Doctoral).
Elektronik Erişim:
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