masterThesis
Controlador adaptativo backstepping a estrutura variavel com Observadores de estado
Fecha
2012-04-12Registro en:
AMORIM, Breno Meira Moura de. Controlador adaptativo backstepping a estrutura variavel com Observadores de estado. 2012. 93 f. Dissertação (Mestrado em Automação e Sistemas; Engenharia de Computação; Telecomunicações) - Universidade Federal do Rio Grande do Norte, Natal, 2012.
Autor
Amorim, Breno Meira Moura de
Resumen
This research aims at developing a variable structure adaptive backstepping controller
(VS-ABC) by using state observers for SISO (Single Input Single Output),
linear and time invariant systems with relative degree one. Therefore, the lters
were replaced by a Luenberger Adaptive Observer and the control algorithm uses
switching laws. The presented simulations compare the controller performance, considering
when the state variables are estimated by an observer, with the case that the
variables are available for measurement. Even with numerous performance advantages,
adaptive backstepping controllers still have very complex algorithms, especially
when the system state variables are not measured, since the use of lters on the
plant input and output is not something trivial. As an attempt to make the controller
design more intuitive, an adaptive observer as an alternative to commonly
used K lters can be used. Furthermore, since the states variables are considered
known, the controller has a reduction on the dependence of the unknown plant parameters
on the design. Also, switching laws could be used in the controller instead
of the traditional integral adaptive laws because they improve the system transient
performance and increase the robustness against external disturbances in the plant
input