Controlador em Modo Dual Adaptativo Robusto Indireto (IDMARC)

• Ano de defesa: 2016
• Autor(a) principal: Teixeira, Leonardo Rodrigues de Lima
• Tipo de documento: Tese
• Tipo de acesso: Acesso aberto
• Idioma: por
• Instituição de defesa: Brasil; UFRN; PROGRAMA DE PÓS-GRADUAÇÃO EM ENGENHARIA ELÉTRICA E DE COMPUTAÇÃO
• Palavras-chave em Português: Sistemas com estrutura variável; Controle adaptativo por modelo de referência; Controle adaptativo indireto; CNPQ::ENGENHARIAS::ENGENHARIA ELÉTRICA E DE COMPUTAÇÃO
• Link de acesso: https://repositorio.ufrn.br/jspui/handle/123456789/22330

In this work the Indirect Dual Mode Adaptive Robust Controller (IDMARC) is proposed, which combines the good typical transient and robustness properties of Variable Structure Systems, more specifically of Indirect Variable Structure Model Reference Adaptive Controller (IVS-MRAC), with a smooth control signal in steady-state, typical of conventional Adaptive Controllers, as Indirect Model Reference Adaptive Controller (IMRAC). Due to use the indirect approach it provides a more intuitive controller design, based on physical plant parameters, as resistances, inertia moments, capacitances, etc. Lyapunov-based stability analysis and simulation results are presented for the ideal case and considering bounded input disturbance. Furthermore, in this work it is also proposed the Indirect Binary Model Reference Adaptive Controller (IB-MRAC), which introduced the idea of such mixed controller, whose behavior as IMRAC or IVS-MRAC can be selected depending on fixed adaptive gains defined in the design.