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Development of adaptive control methodologies and algorithms for nonlinear dynamic systems based on u-control framework

Qiu, Ji

Development of adaptive control methodologies and algorithms for nonlinear dynamic systems based on u-control framework Thumbnail


Authors

Ji Qiu ji2.qiu@live.uwe.ac.uk



Abstract

Inspired by the U-model based control system design (or called U-control system design), this study is mainly divided into three parts.
The first one is a U-model based control system for unstable non-minimum phase system. Pulling theorems are proposed to apply zeros pulling filters and poles pulling filters to pass the unstable non-minimum phase characteristics of the plant model/system. The zeros pulling filters and poles pulling filters derive from a customised desired minimum phase plant model. The remaining controller design can be any classic control systems or U-model based control system. The difference between classic control systems and U-model based control system for unstable non-minimum phase will be shown in the case studies.
Secondly, the U-model framework is proposed to integrate the direct model reference adaptive control with MIT normalised rules for nonlinear dynamic systems. The U-model based direct model reference adaptive control is defined as an enhanced direct model reference adaptive control expanding the application range from linear system to nonlinear system. The estimated parameter of the nonlinear dynamic system will be placement as the estimated gain of a customised linear virtual plant model with MIT normalised rules. The customised linear virtual plant model is the same form as the reference model. Moreover, the U-model framework is design for the nonlinear dynamic system within the root inversion.
Thirdly, similar to the structure of the U-model based direct model reference adaptive control with MIT normalised rules, the U-model based direct model reference adaptive control with Lyapunov algorithms proposes a linear virtual plant model as well, estimated and adapted the particular parameters as the estimated gain which of the nonlinear plant model by Lyapunov algorithms. The root inversion such as Newton-Ralphson algorithm provides the simply and concise method to obtain the inversion of the nonlinear system without the estimated gain. The proposed U-model based direct control system design approach is applied to develop the controller for a nonlinear system to implement the linear adaptive control. The computational experiments are presented to validate the effectiveness and efficiency of the proposed U-model based direct model reference adaptive control approach and stabilise with satisfied performance as applying for the linear plant model.

Citation

Qiu, J. Development of adaptive control methodologies and algorithms for nonlinear dynamic systems based on u-control framework. (Thesis). University of the West of England. Retrieved from https://uwe-repository.worktribe.com/output/1490642

Thesis Type Thesis
Publicly Available Date Aug 7, 2020
Public URL https://uwe-repository.worktribe.com/output/1490642

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