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doctoral thesis
Analiza stabilnosti nelinearnih sustava vođenih analitičkim neizrazitim regulatorom
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2005. urn:nbn:hr:235:170430
Kasać, Josip
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

Cite this document

Kasać, J. (2005). Analiza stabilnosti nelinearnih sustava vođenih analitičkim neizrazitim regulatorom (Doctoral thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:170430

Kasać, Josip. "Analiza stabilnosti nelinearnih sustava vođenih analitičkim neizrazitim regulatorom." Doctoral thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2005. https://urn.nsk.hr/urn:nbn:hr:235:170430

Kasać, Josip. "Analiza stabilnosti nelinearnih sustava vođenih analitičkim neizrazitim regulatorom." Doctoral thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2005. https://urn.nsk.hr/urn:nbn:hr:235:170430

Kasać, J. (2005). 'Analiza stabilnosti nelinearnih sustava vođenih analitičkim neizrazitim regulatorom', Doctoral thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 22 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:170430

Kasać J. Analiza stabilnosti nelinearnih sustava vođenih analitičkim neizrazitim regulatorom [Doctoral thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2005 [cited 2024 November 22] Available at: https://urn.nsk.hr/urn:nbn:hr:235:170430

J. Kasać, "Analiza stabilnosti nelinearnih sustava vođenih analitičkim neizrazitim regulatorom", Doctoral thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2005. Available at: https://urn.nsk.hr/urn:nbn:hr:235:170430

Metadata
TitleAnaliza stabilnosti nelinearnih sustava vođenih analitičkim neizrazitim regulatorom
Title (english)Stability analysis of nonlinear systems controlled by analytic fuzzy controller
AuthorJosip Kasać
MentorBranko Novaković (mentor)
Committee memberNikola Šerman (predsjednik povjerenstva)
Committee memberBranko Novaković (član povjerenstva)
Committee memberMladen Crneković (član povjerenstva)
Committee memberZdravko Terze (član povjerenstva)
Committee memberZdenko Kovačić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2005-05-24, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Universal decimal classification
(UDC)		67/68 - Various industries, trades and crafts
51 - Mathematics
Abstract
Tema ove disertacije je analiza stabilnosti nelinearnih mehaničkih sustava vođenih analitičkim neizrazitim regulatorom. Analitički neizraziti regulator je nekonvencionalni pristup koji koristi analitičke funkcije za određivanje centara izlaznih neizrazitih skupova umjesto baze pravila ponašanja. Analiza stabilnosti je zasnovana na Lyapunovljevoj izravnoj metodi i ne zahtijeva prikaz dinamike sustava upravljanja u obliku Takagi- Sugeno neizrazitog modela. Analiza stabilnosti je podijeljena na četiri osnovna dijela. Prvo se formiraju jednadžbe pogreške zatvorenog sustava upravljanja. Drugo, formira se kandidat za Lyapunovljevu funkciju. Zatim se izvode uvjeti stabilnosti koji garantiraju pozitivnu definitnost Lypunovljeve funkcije i negativnu definitnost njene vremenske derivacije. Na kraju, primjenjuje se LaSalleov princip invarijantnosti koji garantira asimptotsku stabilnost. Time su dobiveni kriteriji lokalne stabilnosti koji uključuju svega nekoliko parametara upravljačkog sustava. Na osnovu dobivenih rezultata razmatrane su neke modifikacije analitičkog neizrazitog regulatora koje osiguravaju globalnu asimptotsku stabilnost. Nadalje, Lyapunovljeve funkcije analiziranih regulatora su iskorištene za evaluaciju performansi i određivanje optimalnih vrijednosti parametara regulatora. \Navedeni pristup zasnovan je na konstrukciji parametarski ovisne Lyapunovljeve funkcije. Odgovarajućim izborom slobodnog parametra dobivena je ocjena integralnog indeksa performanse. Indeks performanse ovisi samo o nekoliko parametara regulatora i nekoliko parametara koji karakteriziraju dinamiku robota. Optimalne vrijednosti parametara regulatora dobivene su minimizacijom indeksa performanse. Procedura podešavanja parametara demonstrirana je na simulacijskom modelu dva različita tipa robota.
Abstract (english)
The subject of this thesis is the stability analysis of nonlinear mechanical systems in closed loop with analytic fuzzy PID controller. The analytic fuzzy control is a nonconventional approach that uses an analytic function for output determination, instead of a fuzzy rule base. The stability analysis is based on the Lypunov’s direct method and does not require representation of the plant dynamics in the form of Takagi-Sugeno’s fuzzy model. The stability analysis is divided in four principal parts. First, error equations for closed loop system is determined. Second, Lyapunov function candidate is proposed. Then, stability criterion on system parameters is established. Finally, LaSalle invariance principle is invoked to guarantee the asymptotic stability. The local stability condition which involve only few control systems parameters are obtained. On the base of obtained results, some modification of analytic fuzzy controllers which ensure global asymptotic stability are considered. Further, the Lyapunov functions of analyzed controllers are employed for performance evaluation and determination of the optimal values of controller parameters. The proposed approach is based on construction of a parameter dependent Lyapunov function. With the appropriate choice of the free parameter an estimation of integral performance index is obtained. The estimated performance index depends on controller parameters and few parameters which characterize the robot dynamics. The optimal values of the controller gains are obtained by minimization of the performance index. The obtained tuning rules are demonstrated by using simulation models of two robot manipulators with different structures.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:170430
Study programmeTitle: Mechanical Engineering and Naval Architecture
Study programme type: university
Study level: postgraduate
Academic / professional title: doktor/doktorica znanosti, područje tehničkih znanosti (doktor/doktorica znanosti, područje tehničkih znanosti)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2020-12-03 14:48:55