Klizni režim upravljanja višeg reda

master's thesis

• Title (english): Higher order sliding mode control
• Author: Leo Patrlj
• Mentor: Mato Baotić (mentor)
• Committee member: Mato Baotić (član povjerenstva)
• Committee member: Vinko Lešić (član povjerenstva)
• Committee member: Branimir Novoselnik (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Na početku rada je sažeto izrečena teorija upravljanja pomoću kliznih režima zajedno sa dokazima i izvodima kako bi se pokazalo zašto su u nekim slučajevima superiorniji u odnosu na klasične linearne regulatore. Pokazano je kako se uz pomoć kliznog režima prvog reda može upravljati nelinearnim sustavima uz postojanje modelske nesigurnosti i uz prisutstvo poremećaja. Glavni nedostatci kliznih režima prvog reda su ispravljeni pomoću korištenja kliznih režima drugog reda. Naposlijetku su obje vrste kliznih režima zajedno sa linearnim regulatorom uspoređeni na primjeru modela rotacijskog obrnutog njihala. Dobiveni odzivi pokazuju superiornost upravljanja kliznim režimima u odnosu na klasične linearne regulatore kod nelinearnih sustava s modelskom neodrđenosti i uz prisutstvo poremećaja.

Abstract (english)

At the beginning of the thesis the theory for sliding more control has been laid out together with proofs and derivations to demonstrate why sliding mode control is superior in some cases than conventional linear controllers. It is shown how nonlinear systems with model uncertainty and in the presence of a disturbance signal can be controlled using sliding mode control. The main downsides of first order sliding mode controllers are corrected using second order sliding mode controllers while keeping the output intact. To conclude, both versions of sliding mode controllers have been compared alongside linear controllers on the Furuta pendulum. The gathered outputs suggest how sliding mode control is superior to linear controllers when implemented on nonlinear systems with model uncertainty and in the presence of a disturbance.

• Keywords: klizni režim upravljanja; klizni režim prvog reda; klizni režim drugog reda; klizni režim višeg reda; rotacijsko obrnuto njihalo; nelinearni sustavi; MATLAB
• Keywords (english): sliding mode; first order sliding mode; second order sliding mode; higher order sliding mode; Furuta pendulum; nonlinear systems; MATLAB
• Language: croatian
• URN:NBN: urn:nbn:hr:168:491011
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 15:48:10