doctoralThesis
Controlador em Modo Dual Adaptativo Robusto Indireto (IDMARC)
Fecha
2016-07-27Registro en:
TEIXEIRA, Leonardo Rodrigues de Lima. Controlador em Modo Dual Adaptativo Robusto Indireto (IDMARC). 2016. 93f. Tese (Doutorado em Engenharia Elétrica e de Computação) - Centro de Tecnologia, Universidade Federal do Rio Grande do Norte, Natal, 2016.
Autor
Teixeira, Leonardo Rodrigues de Lima
Resumen
In this work the Indirect Dual Mode Adaptive Robust Controller (IDMARC) is proposed,
which combines the good typical transient and robustness properties of Variable
Structure Systems, more specifically of Indirect Variable Structure Model Reference
Adaptive Controller (IVS-MRAC), with a smooth control signal in steady-state, typical
of conventional Adaptive Controllers, as Indirect Model Reference Adaptive Controller
(IMRAC). Due to use the indirect approach it provides a more intuitive controller design,
based on physical plant parameters, as resistances, inertia moments, capacitances, etc.
Lyapunov-based stability analysis and simulation results are presented for the ideal case
and considering bounded input disturbance. Furthermore, in this work it is also proposed
the Indirect Binary Model Reference Adaptive Controller (IB-MRAC), which introduced
the idea of such mixed controller, whose behavior as IMRAC or IVS-MRAC can be
selected depending on fixed adaptive gains defined in the design.