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dc.contributor.authorDeLonga, David M.  Concept link
dc.date.accessioned2012-10-15T18:45:32Z
dc.date.available2012-10-15T18:45:32Z
dc.date.issued1989-02
dc.identifier.urihttps://hdl.handle.net/1912/5452
dc.descriptionSubmitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution February 1988en_US
dc.description.abstractA new control methodology is proposed for use with a class of nonlinear, single-input discrete time systems. The technique is based on a discrete time approach that parallels existing continuous time sliding surface concepts. Modifications to the basic algorithm allow for system models with time-variant or uncertain parameters, time delays in the control input, and external disturbances. A major feature of the method is its straightforward extension to an adaptive control form which can be used to improve performance and maintain stability in the presence of large parametric uncertainty or time-variant behavior. Techniques are proposed for overcoming instabilities that frequently arise when using adaptive control schemes based on reduced order system models or in the presence of disturbances. A framework is provided for the practical application of the methodology to continuous time systems. The discrete time nature of the development makes it especially well suited to applications where sensor data is infrequently available or computational power is limited. An experimental study is performed using an underwater remotely operated vehicle to verify the validity of the approach. The ability of the method to use a nonlinear model and adapt to large parametric uncertainty is shown to result in improved performance over the use of a linear or time-invariant model.en_US
dc.description.sponsorshipFinally, the United States Navy and the National Science Foundation are gratefully acknowledged for their financial support of my graduate education. This research was also sponsored in part by ONR Contract N00014-36-C-0038, ONR Grant N00014-87- J-1111 (formerly N00014-87-G-0111), NSF Grant 8611640-ECS, and NRL Contract N00014-88-K-2022.
dc.format.mimetypeapplication/pdf
dc.language.isoen_USen_US
dc.publisherMassachusetts Institute of Technology and Woods Hole Oceanographic Institutionen_US
dc.relation.ispartofseriesWHOI Thesesen_US
dc.subjectAdaptive control systemsen_US
dc.subjectDiscrete-time systemsen_US
dc.titleA control system design technique for nonlinear discrete time systemsen_US
dc.typeThesisen_US
dc.identifier.doi10.1575/1912/5452


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