OBSERVATION AND CONTROL OF DYNAMICAL SYSTEMS IN THE PRESENCE OF NONLINEARITIES/UNCERTAINTIES (MICROPROCESSOR)
Abstract
The problem of observation and control of nonlinear/uncertain systems is addressed utilizing techniques prevalent in the theory of variable structure systems (VSS). These principles of VSS are illustrated via four microprocessor-based laboratory investigations. Current variable structure control (VSC) methods are shown to be inadequate in nonlinear, multi-input applications. Thus, a new VSC design strategy tailored for multi-input, non-linear systems is derived. The major emphasis of the treatise, however, is placed upon the observation of nonlinear/uncertain systems. A new approach is presented and subsequently compared favorably to current methods. This approach is then coupled with the new control strategy which is modified to be applicable to nonlinear/uncertain systems. The combined observer-controller configuration is then implemented for the problem of position control of a two degree of freedom (theta)-r manipulator with limited state measurements. Finally, the more difficult problem of end effector path planning in the presence of variable loads is successfully addressed via the new methods.
Degree
Ph.D.
Subject Area
Electrical engineering
Off-Campus Purdue Users:
To access this dissertation, please log in to our
proxy server.