Robust Control of Systems Subjected to Uncertain Disturbances and Actuator Dynamics

EnglishThis dissertation focuses on the design and validation of robust controllers that can effectively reduce vibrations in structures due to external disturbances such as earthquakes, strong winds or heavy dynamic loads. The design of the controllers is based on control theories traditionally used in structural control: Lyapunov stability theory, Sliding Mode Control and Clipped-Optimal Control, another recently introduced: Backstepping Control and one that had not been used before in this control area: Quantitative Feedback Theory. The main advantage by using these techniques is that some open structural problems such as actuator dynamics, uncertain disturbances, uncertain parameters, measurement limitation and dynamic coupling can be treated. Numerical validation of the controllers proposed is performed on typical structural models. A 10-story base isolated structure, a truck-bridge structural platform and a two-span bridge are used. Their control scheme contains inherit one o more open structural control problems. Three experimental prototypes are used to implement the robust controllers proposed, in order to experimentally verify their viability and effectiveness. The main contribution of the present thesis is obtaining robust structural controllers, numerically and experimentally verified, that account structural control problems such as actuator dynamics, uncertain parameters, dynamic coupling, measurement limitations and unknown disturbances and based on novel control techniques. EnglishEsta tesis esta enfocada al diseno y validacion de controladores robustos que pueden reducir de una manera efectiva las vibraciones structurales producidas por perturbaciones externas tales como terremotos, fuertes vientos o cargas pesadas. Los controladores estan disenados basados en teorias de control tradicionalamente usadas en esta area: Teoria de estabilidad de Lyapunov, control en modo deslizante y control clipped-optimal, una tecnica reciente mente introducida : Control Backstepping y una que no habia sido usada antes: Quantitative Feedback Theory. La principal contribucion al usar las anteriores tecnicas, es la solucion de problemas de control estructural abiertos tales como dinamicas de actuador, perturbaciones desconocidas, parametros inciertos y acoplamientos dinamicos. Se utilizan estructuras tipicas para validar numericamente los controladores propuestos. Especificamente las estructuras son un edificio de base aislada, una plataforma estructural puente-camion y un puente de 2 tramos, cuya configuracion de control es tal que uno o mas problemas abiertos estan presentes. Se utilizan tres prototipos experimentales para implementar los controladores robustos propuestos, con el fin de validar experimentalmente su efectividad y viabilidad. El principal resultado obtenido con la presente tesis es el diseno e implementacion de controladores estructurales robustos que resultan efectivos para resolver problemas abiertos en control estructural tales como dinamicas de actuador, parametros inciertos, acoplamientos dinamicos, limitacion de medidas y perturbaciones desconocidas.

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