کنترل تطبیقی سیستم‌های غیرخطی در حضور خرابی عملگر
محورهای موضوعی : انرژی های تجدیدپذیر
1 - استادیار – دانشکده مهندسی برق، واحد نجف‌آباد، دانشگاه آزاد اسلامی، نجف‌آباد، ایران
مرکز ریزشبکه‌های هوشمند،واحد نجف‌آباد،دانشگاه آزاد اسلامی، نجف‌آباد، ایران
کلید واژه: کنترل تطبیقی, خرابی متغیر با زمان عملگر, سیستم غیرخطی, روش کنترلی گام به عقب,
چکیده مقاله :
در این مقاله، یک کنترل کننده تطبیقی برای کنترل یک کلاس از سیستم‌های غیرخطی در معرض پارامترهای نامعین، بهره کنترلی متغیر و با وجود خرابی عملگر ارائه شده است. کنترل کننده ارائه شده می تواند خرابی کاهش کارایی و خرابی قفل شونده در عملگر را کامل جبران کند. مدل خرابی عملگر در نظر گرفته شده قابلیت جبران غالب خرابی‌های قابل وقوع در سیستم های عملی و کاربردی را دارد. کنترل کننده تطبیقی پیشنهادی بر اساس روش کنترلی گام به عقب طراحی شده است. در این مقاله، با معرفی توابع لیاپانوف- کراسوسکی مناسب، قوانین تطبیقی جدیدی طراحی شده است که خرابی‌های نامعین و پارامترهای نامعلوم را جبران می‌کند. روش کنترلی ارائه شده، تعقیب مجانبی خروجی و کرانداری تمامی سیگنال‌های سیستم حلقه بسته را تضمین می‌کند. روش پیشنهادی جهت کنترل بال هواپیما در حضور خرابی متغیر با زمان عملگر استفاده شده است. نتایج شبیه سازی، کارایی و صحت روش کنترلی ارائه شده را نشان می دهد.
This paper presents an adaptive state feedback control scheme for a class of nonlinear systems with unknown parameters, variable control gains and in the presence of unknown time varying actuator failures. The designed controller compensates unknown loss of effectiveness failures as well as unknown time varying stuck failures in actuators. The considered actuator failure can cover most failures that may occur in actuators of the practical systems. The proposed adaptive controller is constructed based on a backstepping design method. Appropriate Lyapunov-Krasovskii functionals are introduced to design new adaptive laws to compensate the unknown actuator failures and unknown parameters. The offered method ensures the asymptotic output tracking and the boundedness of all the closed-loop signals. The proposed design approach is employed for a wing rock control of an aircraft in the presence of time varying actuator failures. The simulation results verify the effectiveness and correctness of the proposed adaptive control method.
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