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Kamal Youcef-Toumi. El-Rifai, Khalid, 1979- Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering 2008-11-10T19:55:10Z 2008-11-10T19:55:10Z 2007 2007 http://hdl.handle.net/1721.1/39897 182546004 Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007. Includes bibliographical references (leaves 141-149). In this thesis, robust adaptive controllers are developed for classes of switched nonlinear systems. Switched systems are those governed by differential equations, which undergo vector field switching due to sudden changes in model characteristics. Such systems arise in many applications such as mechanical systems with contacts, electrical systems with switches, and thermal-fluidic systems with valves and phase changes. The presented controllers guarantee system stability, under typical adaptive control assumptions, for systems with piecewise differentiable bounded parameters and piecewise continuous disturbances without requiring a priori knowledge on such parameters or disturbances. The effect of plant variation and switching is reduced to piecewise continuous and impulsive inputs acting on a Bounded Input Bounded State (BIBS) stable closed loop system. This, in turn, provides a separation between the robust stability and robust performance control problems. The developed methodology provides clear guidelines for steady-state and transient performance optimization and allows for parameter scheduling and multiple model controller adjustment techniques to be utilized with no stability concerns. The results are illustrated for various systems including contact-based robotic manipulation and Atomic Force Microscope (AFM) based nano-manipulation. by Khalid El Rifai. Ph.D. 158 leaves eng Massachusetts Institute of Technology M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 Mechanical Engineering. Robust adaptive control of switched systems Thesis application/pdf Publication unknown unknown <Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="6367e0ff-f6e4-4a47-a101-5c13a45f21ba"> <Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type> <Language>eng</Language> <Title>Robust adaptive control of switched systems</Title> <PublishedIn> <Publication> </Publication> </PublishedIn> <PublicationDate>2007</PublicationDate> <Authors> <Author> <DisplayName>El-Rifai, Khalid, 1979-</DisplayName> <Affiliation> <OrgUnit> </OrgUnit> </Affiliation> </Author> </Authors> <Editors> </Editors> <Publishers> <Publisher> <DisplayName>Massachusetts Institute of Technology</DisplayName> <OrgUnit /> </Publisher> </Publishers> <License>http://dspace.mit.edu/handle/1721.1/7582</License> <Keyword>Mechanical Engineering.</Keyword> <Abstract>In this thesis, robust adaptive controllers are developed for classes of switched nonlinear systems. Switched systems are those governed by differential equations, which undergo vector field switching due to sudden changes in model characteristics. Such systems arise in many applications such as mechanical systems with contacts, electrical systems with switches, and thermal-fluidic systems with valves and phase changes. The presented controllers guarantee system stability, under typical adaptive control assumptions, for systems with piecewise differentiable bounded parameters and piecewise continuous disturbances without requiring a priori knowledge on such parameters or disturbances. The effect of plant variation and switching is reduced to piecewise continuous and impulsive inputs acting on a Bounded Input Bounded State (BIBS) stable closed loop system. This, in turn, provides a separation between the robust stability and robust performance control problems. The developed methodology provides clear guidelines for steady-state and transient performance optimization and allows for parameter scheduling and multiple model controller adjustment techniques to be utilized with no stability concerns. The results are illustrated for various systems including contact-based robotic manipulation and Atomic Force Microscope (AFM) based nano-manipulation.</Abstract> <Access xmlns="http://purl.org/coar/access_right" > </Access> </Publication>