On Non Linear Adaptive Tracking Control

Abstract

Adaptive control technique is a prevalent and fruitful control methodology for newlinecontrolling nonlinear ambiguous frameworks. Versatile control conspires in newlineparametric uncertain situations regularly leading to poor transient reaction and newlinesluggish enduring state reaction. Utilization of different estimation models has been newlineobserved to guarantee in addressing these issues. This thesis initiates a control newlinetechnique for nonlinear uncertain framework using an adaptive method. The newlineproposed control strategy is applied to nonlinear single-input single-output (SISO) newlineframeworks with normal and nonlinear parameterizations, nonlinear multiple-input newlinemultiple-output (MIMO) coupled frameworks, and nonlinear MIMO model newlinefollowing control frameworks. For all the thought about frameworks, state change newlineand feedback linearization techniques have been utilized to arithmetically change newlinenonlinear framework dynamics to direct ones. The obscure framework parameters newlineare thought to be bounded inside a group of minimal parameter space. The adaptive newlinelaws for estimator parameters have been acquired utilizing Lyapunov stability newlineparadigm. Steadiness examination utilizing Lyapunov s paradigm has been done to newlineevaluate the close loop stability and tracking deviation convergence of the general newlineframework. The transient and consistent state exhibitions utilizing the proposed plan newlineare assessed by conducting simulation studies, which affirm prevalent execution of newlinethe proposed control technique over few existing versatile control strategies. The newlinebasic consignments with versatile control such as transient reaction, destitute newlineelement convergence, and languid reaction are improved impressively through a newlineversatile controller. Notwithstanding, simulation studies, the proposed controller is newlinetested tentatively on real time by applying it to a research facility set-up of twin rotor newlineMIMO system (TRMS). newlineExperimental investigations are performed on the TRMS model for guideline and newlinetracking utilizing pitch and yaw control. Moreover, a versatile model following newlinecontrol