Novel aperiodic sampling and control strategies: application to underactuated systems

Aranda Escolástico, Ernesto. Novel aperiodic sampling and control strategies: application to underactuated systems . 2018. Universidad Nacional de Educación a Distancia (España). Escuela Internacional de Doctorado. Programa de Doctorado en Ingeniería de Sistemas y Control

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Título Novel aperiodic sampling and control strategies: application to underactuated systems
Autor(es) Aranda Escolástico, Ernesto
Abstract The work in this thesis explores the possibilities of aperiodic sampling and control. Using the advances of the last decades in the field of networked systems, the main objective is to obtain methods to use the sampling period of the different measurements of the system to improve the performance or to reduce the transmission of information. With this idea, different eventtriggered control and multi-rate control schemes are proposed. In addition, this thesis aims to provide a practical usage of the strategies and, hence, different simulation and experimental results are developed. In the event-triggered control scenario, different periodic event-triggered strategies are proposed to deal asynchronous sampling, time-varying delays, disturbance rejection, etc. in linear systems. Besides, the practical application of the strategies commonly implies to deal with nonlinear systems. For this reason, some parts are dedicated to the extensions of the proposed strategies to some classes of nonlinear systems. Concretely, polynomial systems and inverted pendulum-type systems are studied. In the multi-rate scenario, the objective is tomaximize the performance of the plant considering that the information received from the sensor is collected at a lower frequency than the actuator’s rate and, hence, several inputs can be applied to the plant in each output sampling period. With this idea, some optimization methods are proposed and different strategies for their practical application are discussed. The methods are applied to an air levitation system with the main goal of obtaining an experimental validation. With theMatlab library for process control simulations, we close the loop providing tools to carry out the simulations necessary to validate the aforementioned theoretical frameworks. Finally, the objective of the last paper is to study alternative aperiodic control strategies in the framework of underactuated systems.
Materia(s) Ingeniería Informática
Editor(es) Universidad Nacional de Educación a Distancia (España). Escuela Internacional de Doctorado. Programa de Doctorado en Ingeniería de Sistemas y Control
Director de tesis Dormido Bencomo, Sebastián
Guinaldo Losada, María
Fecha 2018-09-21
Formato application/pdf
Identificador tesisuned:ED-Pg-IngSisCon-Earanda
http://e-spacio.uned.es/fez/view/tesisuned:ED-Pg-IngSisCon-Earanda
Idioma eng
Versión de la publicación acceptedVersion
Nivel de acceso y licencia http://creativecommons.org/licenses/by-nc-nd/4.0
info:eu-repo/semantics/openAccess
Tipo de recurso Thesis
Tipo de acceso Acceso abierto

 
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Creado: Tue, 13 Nov 2018, 21:28:10 CET