robust control of systems subjected to uncertain disturbances and actuator dynamics

128 Pages·2005·3.19 MB·English

ROBUST CONTROL OF SYSTEMS SUBJECTED TO
UNCERTAIN DISTURBANCES AND ACTUATOR
DYNAMICS

Rodolfo VILLAMIZAR MEJIA

ISBN: 84-689-2579-9
Dipòsit legal: GI-633-2005

Universitat de Girona
Departament d’Electro`nica, Informa`tica i Automa`tica
Robust Control of Systems
Subjected to Uncertain Disturbances
and Actuator Dynamics
by
Rodolfo Villamizar Mej´ıa
Advisors
Dr. Josep Veh´ı and Dr. Ningsu Luo
DOCTORAL THESIS
Girona, Spain
March, 2005

Universitat de Girona
Departament d’Electro`nica, Informa`tica i Automa`tica
Robust Control of Systems
Subjected to Uncertain Disturbances
and Actuator Dynamics
by
Rodolfo Villamizar Mej´ıa
A dissertation presented to the Universitat de
Girona in partial fulfillment of the requirements
of the degree of DOCTOR OF PHILOSOPHY
Advisors
Dr. Josep Veh´ı
Dr. Ningsu Luo
Girona-Spain, March, 2005

Universitat de Girona
Departament de Electro`nica, Informa`tica i Automa`tica
Abstract
Robust Control of Systems Subjected to
Uncertain Disturbances and Actuator Dynamics
by Rodolfo Villamizar Mej´ıa
Advisors: Dr. Josep Veh´ı and Dr. Ningsu Luo
January, 2005
Girona, Spain
This dissertation focuses on the design and validation of robust controllers that can effectively
reducevibrationsinstructuresduetoexternaldisturbancessuchasearthquakes,strongwindsor
heavydynamicloads. Thedesignofthecontrollersisbasedoncontroltheoriestraditionallyused
in structural control: Lyapunov stability theory, Sliding Mode Control and Clipped-Optimal
Control, another recently introduced: Backstepping Control and one that had not been used
before in this control area: Quantitative Feedback Theory. The main advantage by using these
techniques is that some open structural problems such as actuator dynamics, uncertain distur-
bances, uncertain parameters, measurement limitation and dynamic coupling can be treated.
Numerical validation of the controllers proposed is performed on typical structural models. A
10-story base isolated structure, a truck-bridge structural platform and a two-span bridge are
used. Theircontrolschemecontainsinheritoneomoreopenstructuralcontrolproblems. Three
experimental prototypes are used to implement the robust controllers proposed, in order to ex-
perimentallyverifytheirviabilityandeffectiveness. Themaincontributionofthepresentthesis
isobtainingrobuststructuralcontrollers,numericallyandexperimentallyverified,thataccount
structuralcontrolproblemssuchasactuatordynamics,uncertainparameters,dynamiccoupling,
measurement limitations and unknown disturbances and based on novel control techniques.

To whom give sense to my life: my family
My parents Pedro Jesu´s and Ana In´es
My wife Martha Cecilia
My brothers Orlando and Jesu´s M
My sisters Luz Marina, Rubiela, Gloria Carmen and Floralba
All my nephews and brothers in law