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文件名称: Advanced Sliding Mode Controllers For Industrial Applications
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 详细说明:Advanced Sliding Mode Controllers For Industrial ApplicationsADVANCED SLIDING MODE CONTROLLERS FOR INDUSTRIAL APPLICATIONS Thesis submitted for the degree of Doctor of Philosophy at the University of Leicester amer Iqbal Bhatti BSc.(Lahore), M.Sc.(London) Department of Engineering University of leicester July 1997 UMI Number: U531381 All rights reserved INFORMATION TO ALL USERS The quality of this reproduction is dependent upon the quality of the copy submitted In the unlikely event that the author did not send a complete manuscript and there are missing pages, these will be noted Also, if material had to be removed, a note will indicate the deletion JMr Dissertation Publishing UMI U531381 Published by proQuest LLC 2014. Copyright in the dissertation held by the author Microform Edition o ProQuest LLC All rights reserved this work is protected against unauthorized copying under Title 17, United States Code ProQuest ProQuest LLC 789 East Eisenhower Parkway P O. Box 1346 Ann Arbor, MI 48106-1346 To my parents Acknowledgements Certainly its a pleasant obligation to thank my supervisor Dr. S. K. Spurgeon for her encouragement, support and guidance during the course of this research. Working under her supervision has been surely a nice experience. I would further like to thank Dr. D. W. Gu for many useful discussions. I an particularly grateful to Dr. C. Edwards who introduced me to the field of sliding mode control with all its intricacies and nice aspec ts. Special thanks go to Dr. X.Y. Lu for many useful and fruitful discussions I would like to thank all the members of the Control Group who have made working in the group a memorable and pleasant experience especially Ghassan, Alex, Song Ju, Li Quin, Abdul, Tim, Jens, Raza, Bag, Ahmet, Fu Wah, Mark, Mathew and Randall. I would specially like to thank Shehzad Jehangir for all the nice time we spent together I am short of words in acknowledging the love and support given to me by my father who did not live long enough to see this thesis get finished, though he would be the happiest person if he were around. I would like to thank my mother brothers for their support and encouragement. My wife also deserves special thanks as she endured with patience my writing up period At the end I express my gratitude to the government of Pakistan for funding this research. I am also grateful to Dr. Robert Dorey for his help during the Ford project Leicester July 1997 Papers Pertaining to the Thesis Published Papers. 1. AI Bhatti, S K. Spurgeon, and R. Dorey. Idle speed control using a nonlinear controller-observer pair. In Proceedings of 1997 IEe colloquium on Adaptive Con trollers in Practice, pages 2/1-2/5, Coventry, UK, 1997 2. A I Bhatti, S K. Spurgeon, and R. Dorey. Robust nonlinear control of an automotive engine. In Proceedings of 1997 European Control Conference, page not available, Brussels, Belgium, 1997. 3. AI Bhatti, S.K. Spurgeon, R. Dorey, and C. Edwards. Rapid prototyping of a sliding mode control for idle speed control. In Proceedings of 1997 Iee colloquium on system Control Integration and Rapid Prototyping in the automotive Industry pages 3/1-3/7, Birmingham, UK, 1997 4. A I Bhatti, S K. Spurgeon, and C edwards. Multiburner furnace control using a nonlinear controller observer pair. In Proceedings of 1995 IEE colloquium on Adaptive Controllers in Practice, pages 7/1-7/ 4, London, 1995 5. AI Bhatti, S K. Spurgeon, and C. Edwards. Robust control of a high temperature multiburner heating plant. In Proceedings of 1996 UKACC Control Conference pages 1022-1027, Exeter, UK, 1996 6. A I Bhatti, S.K. Spurgeon, and X.Y. Lu. Neural network model based indirect sliding mode controller design. In Proceedings of 1996 UKACC Control Conference pages 418-423, Exeter, UK, 1996 Unpublished Papers 1. AI Bhatti and S.K. Spurgeon. Sliding mode controllers based on neural network models. Under review for journal publication 2. A I Bhatti, S.K. Spurgeon, and R. Dorey. Idle speed control of an automotive engine using a robust nonlinear controller-observer pair. Under review for journal publication 3. A I Bhatti, S K. Spurgeon, and R. Dorey. Sliding mode configurations for automotive engine control. Under review for journal publication 4. A I Bhatti, S K. Spurgeon, and R. Dorey. a sliding mode controller observer pair for application to engine idle speed control. An internal report written for Ford motor company. 5. A I Bhatti,SK. Spurgeon, and x Y. Lu. Neural network modelling for sliding mode controller design. Under review for a, conference 6. A I Bhatti, S K. Spurgeon, and x.Y. Lu. Sliding mode based robust parameter estimation. Under review for a conference 7. AI Bhatti, S.K. Spurgeon, and x. Y. Lu. Sliding mode based robust parameter estimation and control of nonlinear systems. Under review for journal publication Contents 1 Introduction 1.1 Overview 1.2 Thesis contribution 4 1.3 Thesis structure 2 Sliding Mode Controller Design 2.1 Introduction 2.2 Basic concepts of sliding mode theory 2.2.1 Hyperplane design ,,,,,10 2.2.2 Reachability condition 11 2.3 Design example 12 2. 4 Sliding mode design procedure 2.4.1. Motivation for using linear models 6 2.4.2 Observer selection 2.4.3 Controller formulation 18 2.4.4 Nonlinear observer Formulation 22 2.5 Controller design issues 24 26 Summary....,,,.,,,, 25 3 Sliding Mode Control in Nonlinear Systems 26 3.1 Introduction 26 3.2 Indirect Sliding Mode Controller Design 3.2. 1 Model representation 889 3.2.2 Sliding surface 3.2.3 Reachability condition 30 3.2.4 Design Method 31 3.2.5 Advantages of the Indirect Approach to Sliding Mode Control 32 3.3 Design Example: Underwater Vehicle Position Control 3.3.1 Controller design 3.3.2 Closed loop simulation 3.4 Direct Sliding mode Control 3.4.1 Introduction 37 3.4.2 System model with uncertainty 38 3.4.3 Direct Sliding Surface 39 3.4.4 Design Method 3.4.5 Advantages of the direct approach to sliding mode control.... 42 3.5 Design Example: Direct sliding mode design for underwater vehicle . 42 3.5. 1. Calculation of the uncertainty bounds 3.5.2 Controller design 3.5.3 Simulation results 3.6 Comparison 3.7 Summary 4 Sliding Mode Control Based On Neural Networks 51
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