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## Potentials of Evolving Linear Models in Tracking Control Design for Nonlinear Variable Structure Systems | |||||||||||

AUT Journal of Modeling and Simulation | |||||||||||

مقاله 5، دوره 48، شماره 2، زمستان 2016، صفحه 75-92
اصل مقاله (3635 K)
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نوع مقاله: Research Paper | |||||||||||

شناسه دیجیتال (DOI): 10.22060/miscj.2016.829 | |||||||||||

نویسندگان | |||||||||||

Ahmad Kalhor ^{} ^{1}؛ Nima Hojjatzadeh^{2}؛ Alireza Golgouneh^{2}
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^{1}Assistant Professor, School of Electrical and Computer Engineering, University of Tehran | |||||||||||

^{2}M.Sc. Student, Faculty of New Sciences and Technologies, University of Tehran | |||||||||||

چکیده | |||||||||||

Evolving models have found applications in many real world systems. In this paper, potentials of the Evolving Linear Models (ELMs) in tracking control design for nonlinear variable structure systems are introduced. At first, an ELM is introduced as a dynamic single input, single output (SISO) linear model whose parameters as well as dynamic orders of input and output signals can change through the time. Then, the potential of ELMs in modeling nonlinear time-varying SISO systems is explained. Next, the potential of the ELMs in tracking control of a minimum phase nonlinear time-varying SISO system is introduced. For this mean, two tracking control strategies are proposed respectively for (a) when the ELM is known perfectly and (b) when the ELM model has uncertainties but dynamic orders of the input and output signals are fixed. The methodology and superiority of the proposed tracking control systems are shown via some illustrative examples: speed control in a DC motor and link position control in a flexible joint robot. | |||||||||||

کلیدواژه ها | |||||||||||

Evolving linear model؛ nonlinear time-varying systems؛ tracking control system | |||||||||||

عنوان مقاله [English] | |||||||||||

Potentials of Evolving Linear Models in Tracking Control Design for Nonlinear Variable Structure Systems | |||||||||||

نویسندگان [English] | |||||||||||

Ahmad Kalhor, Nima Hojjatzadeh, Alireza Golgouneh | |||||||||||

چکیده [English] | |||||||||||

Evolving models have found applications in many real world systems. In this paper, potentials of the Evolving Linear Models (ELMs) in tracking control design for nonlinear variable structure systems are introduced. At first, an ELM is introduced as a dynamic single input, single output (SISO) linear model whose parameters as well as dynamic orders of input and output signals can change through the time. Then, the potential of ELMs in modeling nonlinear time-varying SISO systems is explained. Next, the potential of the ELMs in tracking control of a minimum phase nonlinear time-varying SISO system is introduced. For this mean, two tracking control strategies are proposed respectively for (a) when the ELM is known perfectly and (b) when the ELM model has uncertainties but dynamic orders of the input and output signals are fixed. The methodology and superiority of the proposed tracking control systems are shown via some illustrative examples: speed control in a DC motor and link position control in a flexible joint robot. | |||||||||||

کلیدواژه ها [English] | |||||||||||

Evolving linear model, nonlinear time-varying systems, tracking control system | |||||||||||

مراجع | |||||||||||

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