Structured Adaptive Model Inversion control with fault tolerance and actuator position limits
Due to the character of the original source materials and the nature of batch digitization, quality control issues may be present in this document. Please report any quality issues you encounter to digital@library.tamu.edu, referencing the URI of the item. Includes bibliographical references (leaves...
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fttexasamuniv:oai:oaktrust.library.tamu.edu:1969.1/ETD-TAMU-2002-THESIS-T356 2023-07-16T04:00:45+02:00 Structured Adaptive Model Inversion control with fault tolerance and actuator position limits Tandale, Monish Deepak 2002 electronic application/pdf reformatted digital https://hdl.handle.net/1969.1/ETD-TAMU-2002-THESIS-T356 en_US eng Texas A&M University https://hdl.handle.net/1969.1/ETD-TAMU-2002-THESIS-T356 This thesis was part of a retrospective digitization project authorized by the Texas A&M University Libraries in 2008. Copyright remains vested with the author(s). It is the user's responsibility to secure permission from the copyright holder(s) for re-use of the work beyond the provision of Fair Use. aerospace engineering Major aerospace engineering Thesis text 2002 fttexasamuniv 2023-06-27T22:13:25Z Due to the character of the original source materials and the nature of batch digitization, quality control issues may be present in this document. Please report any quality issues you encounter to digital@library.tamu.edu, referencing the URI of the item. Includes bibliographical references (leaves 76-78). Issued also on microfiche from Lange Micrographics. Structured Adaptive Model Inversion (SAMI) is a model reference adaptive control formulation that takes advantage of the dynamical structure of the state-space descriptions of a large class of systems. Most dynamic systems can be broken into an exactly known kinematic level part, and a momentum level part with uncertain system parameters. The SAMI formulation enables the imposition of exact kinematic differential equations, and restricts the adaptation process that compensates for model errors to the acceleration level. Dynamic inversion is used to solve for the control The dynamic inversion is approximate, as the system parameters are not modeled accurately. Hence an adaptive control structure is wrapped around the dynamic inverter to account for uncertainties. In high performance dynamic systems the total number of actuators used may be greater than the number of states to be closely controlled or tracked. In the case of redundant actuation, it is still possible to closely track the desired states even if some of the actuators fail, as long as the number of active actuators is more than or equal to the number of states to be tracked. Therefore, if it is possible to reconfigure the control after failure, the stability and performance of the system can be maintained. The research presented in this thesis is the result of an attempt to provide fault tolerance, without the need of a fault detection algorithm, by extending the SAMI methodology. Traditional adaptive control lacks an adequate theoretical treatment for control in the presence of actuator saturation limits. The research presented in this thesis attempts to extend the adaptive control ... Thesis sami Texas A&M University Digital Repository |
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Texas A&M University Digital Repository |
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English |
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aerospace engineering Major aerospace engineering |
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aerospace engineering Major aerospace engineering Tandale, Monish Deepak Structured Adaptive Model Inversion control with fault tolerance and actuator position limits |
topic_facet |
aerospace engineering Major aerospace engineering |
description |
Due to the character of the original source materials and the nature of batch digitization, quality control issues may be present in this document. Please report any quality issues you encounter to digital@library.tamu.edu, referencing the URI of the item. Includes bibliographical references (leaves 76-78). Issued also on microfiche from Lange Micrographics. Structured Adaptive Model Inversion (SAMI) is a model reference adaptive control formulation that takes advantage of the dynamical structure of the state-space descriptions of a large class of systems. Most dynamic systems can be broken into an exactly known kinematic level part, and a momentum level part with uncertain system parameters. The SAMI formulation enables the imposition of exact kinematic differential equations, and restricts the adaptation process that compensates for model errors to the acceleration level. Dynamic inversion is used to solve for the control The dynamic inversion is approximate, as the system parameters are not modeled accurately. Hence an adaptive control structure is wrapped around the dynamic inverter to account for uncertainties. In high performance dynamic systems the total number of actuators used may be greater than the number of states to be closely controlled or tracked. In the case of redundant actuation, it is still possible to closely track the desired states even if some of the actuators fail, as long as the number of active actuators is more than or equal to the number of states to be tracked. Therefore, if it is possible to reconfigure the control after failure, the stability and performance of the system can be maintained. The research presented in this thesis is the result of an attempt to provide fault tolerance, without the need of a fault detection algorithm, by extending the SAMI methodology. Traditional adaptive control lacks an adequate theoretical treatment for control in the presence of actuator saturation limits. The research presented in this thesis attempts to extend the adaptive control ... |
format |
Thesis |
author |
Tandale, Monish Deepak |
author_facet |
Tandale, Monish Deepak |
author_sort |
Tandale, Monish Deepak |
title |
Structured Adaptive Model Inversion control with fault tolerance and actuator position limits |
title_short |
Structured Adaptive Model Inversion control with fault tolerance and actuator position limits |
title_full |
Structured Adaptive Model Inversion control with fault tolerance and actuator position limits |
title_fullStr |
Structured Adaptive Model Inversion control with fault tolerance and actuator position limits |
title_full_unstemmed |
Structured Adaptive Model Inversion control with fault tolerance and actuator position limits |
title_sort |
structured adaptive model inversion control with fault tolerance and actuator position limits |
publisher |
Texas A&M University |
publishDate |
2002 |
url |
https://hdl.handle.net/1969.1/ETD-TAMU-2002-THESIS-T356 |
genre |
sami |
genre_facet |
sami |
op_relation |
https://hdl.handle.net/1969.1/ETD-TAMU-2002-THESIS-T356 |
op_rights |
This thesis was part of a retrospective digitization project authorized by the Texas A&M University Libraries in 2008. Copyright remains vested with the author(s). It is the user's responsibility to secure permission from the copyright holder(s) for re-use of the work beyond the provision of Fair Use. |
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1771549855376736256 |