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dc.contributor.advisorZhou, Jing
dc.contributor.authorSchlanbusch, Siri Marte
dc.date.accessioned2023-05-25T14:07:20Z
dc.date.available2023-05-25T14:07:20Z
dc.date.issued2023
dc.identifier.citationSchlanbusch, S. M. (2023). Adaptive Control of Systems with Quantization and Time Delays [Doctoral dissertation]. University of Agder.en_US
dc.identifier.isbn978-82-8427-128-6
dc.identifier.issn1504-9272
dc.identifier.urihttps://hdl.handle.net/11250/3069038
dc.description.abstractThis thesis addresses problems relating to tracking control of nonlinear systems in the presence of quantization and time delays. Motivated by the importance in areas such as networked control systems (NCSs) and digital systems, where the use of a communication network in NCS introduces several constraints to the control system, such as the occurrence of quantization and time delays. Quantization and time delays are of both practical and theoretical importance, and the study of systems where these issues arises is thus of great importance. If the system also has parameters that vary or are uncertain, this will make the control problem more complicated. Adaptive control is one tool to handle such system uncertainty. In this thesis, adaptive backstepping control schemes are proposed to handle uncertainties in the system, and to reduce the effects of quantization. Different control problems are considered where quantization is introduced in the control loop, either at the input, the state or both the input and the state. The quantization introduces difficulties in the controller design and stability analysis due to the limited information and nonlinear characteristics, such as discontinuous phenomena. In the thesis, it is analytically shown how the choice of quantization level affects the tracking performance, and how the stability of the closed-loop system equilibrium can be achieved by choosing proper design parameters. In addition, a predictor feedback control scheme is proposed to compensate for a time delay in the system, where the inputs are quantized at the same time. Experiments on a 2-degrees of freedom (DOF) helicopter system demonstrate the different developed control schemes.en_US
dc.language.isoengen_US
dc.publisherUniversity of Agderen_US
dc.relation.ispartofseriesDoctoral Dissertations at the University of Agder; no. 413
dc.relation.haspartPaper I: Schlanbusch, S. M. & Zhou, J. (2020). Adaptive Backstepping Control of a 2-DOF Helicopter System with Uniform Quantized Inputs. In Proceedings of the 46th Annual Conference of the IEEE Industrial Electronics Society (pp. 88–94). https://doi.org/10.1109/IECON43393.2020.9254497. Accepted version. Full-text is available in AURA as a separate file: https://hdl.handle.net/11250/3048055.en_US
dc.relation.haspartPaper II: Schlanbusch, S. M., Zhou, J. & Schlanbusch, R. (2021). Adaptive Backstepping Attitude Control of a Rigid Body with State Quantization. In Proceedings of the 60th IEEE Conference on Decision and Control (pp. 372–377). https://doi.org/10.1109/CDC45484.2021.9683579. Accepted version. Full-text is available in AURA as a separate file: https://hdl.handle.net/11250/3068976.en_US
dc.relation.haspartPaper III: Schlanbusch, S. M., Zhou, J. & Schlanbusch, R. (2021). Adaptive Attitude Control of a Rigid Body with Input and Output Quantization. IEEE Transactions on Industrial Electronics, 69(8), 8296–8305. https://doi.org/10.1109/TIE.2021.3105999. Accepted version. Full-text is available in AURA as a separate file: https://hdl.handle.net/11250/2836210.en_US
dc.relation.haspartPaper IV: Schlanbusch, S. M. & Zhou, J. (2021). Adaptive Backstepping Control of a 2-DOF Helicopter System in the Presence of Quantization. In Proceedings of the 9th International Conference on Control, Mechatronics and Automation (pp. 110–115). https://doi.org/10.1109/ICCMA54375.2021.9646184. Accepted version. Full-text is available in AURA as a separate file: https://hdl.handle.net/11250/3069017.en_US
dc.relation.haspartPaper V: Schlanbusch, S. M., Aamo, O. M. & Zhou, J. (2022). Attitude Control of a 2-DOF Helicopter System with Input Quantization and Delay. In Proceedings of the 48th Annual Conference of the IEEE Industrial Electronics Society. https://doi.org/10.1109/IECON49645.2022.9968994. Accepted version. Full-text is available in AURA as a separate file: https://hdl.handle.net/11250/3058798.en_US
dc.relation.haspartPaper VI: Schlanbusch, S. M. & Zhou, J. (2023). Adaptive quantized control of uncertain nonlinear rigid body systems. Systems & Control Letters, 175: 105513. https://doi.org/10.1016/j.sysconle.2023.105513. Accepted version. Full-text is available in AURA as a separate file: https://hdl.handle.net/11250/3067270.en_US
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/deed.no*
dc.titleAdaptive Control of Systems with Quantization and Time Delaysen_US
dc.typeDoctoral thesisen_US
dc.description.versionpublishedVersionen_US
dc.rights.holder© 2023 Siri Marte Schlanbuschen_US
dc.subject.nsiVDP::Teknologi: 500en_US
dc.source.pagenumber220en_US
dc.source.issue413en_US
dc.identifier.cristin2149106


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