الفهرس 
1. INTRODUCTIONOnly 14 pages are availabe for public view
 |  | from | 142 |  |  |
| | | from | 142 | | |
Abstract
With the growing development of control techniques, controlling of nonlinear dynamic behavior of systems have long been a topic of research. Most of the real world dynamical systems are usually nonlinear in their behavior with uncertainties and external disturbances which are often affect the control system performance and result in its instability. So, nonlinear control techniques are most demanding for the development of robust control systems to achieve good closed loop performance. Practically, Proportional-integral-derivative (PID) controllers are still widely used in the industrial process control applications. However, improving their performance is a major concern from an engineering point of view to achieve relevant control objectives.
Fractional-order controllers (FOCs) are considered as the generalization of conventional PID controllers, where the classic PID controllers of three parameters are developed into fractional PID controllers of five parameters. These additional two degrees of freedom of the integrator and differentiator allow more flexibly to the designer to implement the controller and to meet the system requirements more accurately. Fractional order PID controllers, which provide additional tuning parameters, can provide better closed loop performance and robustness features compared to classical PID controllers.
On the other hand, sliding mode control (SMC) has been recognized as the effective tool to design robust controllers for nonlinear dynamic systems. Uncertainties and disturbances are often found in real systems and they must be considered during such systems control process. SMC is a powerful control technique, which provides robustness by handling both internal parameter uncertainties and external disturbances.
With the powerful of SMC in nonlinear control tasks and the good processing of FOC, the FOC is incorporated into the design of SMC in a valuable manner to improve and speed up the response of the nonlinear systems.
ii
The principal aim of this dissertation is to develop and implement fractional order sliding mode controller (FOSMC) for handling uncertainties and external disturbances in nonlinear systems. Firstly, a FOSMC based on particle swarm optimization (FOSMC-PSO) for controlling fractional order systems is presented in order to improve the controller performance. Moreover, the stability of the proposed controller is studied based on Lyapunov stability theorem.
Then, an adaptive FOSMC based on Mamdani fuzzy logic system (AFOSMC-M) is developed to improve the performance of FOSMC by tuning its parameters on-line. This controller is composed from two units; the first is the FOSMC, which is used as the main controller. The other unit is a Mamdani fuzzy logic system (FLS), which is used as a tuning mechanism.
Then, an adaptive FOSMC based on TSK-FLS (AFOSMC-TSK) is developed in which a TSK-FLS is employed as tuning unit to generate the parameters of FOSMC. The stability of the proposed controller is strengthened by adjusting the parameters of the tuning unit (TSK-FLS) based on Lyapunov stability theorem.
The proposed controllers have been designed and implemented practically using an Arduino DUE microcontroller kit for controlling the gyroscope system. The experimental results of the embedded controllers based on hardware in the loop (HIL) simulation show good and significant improvements in the performance of the proposed controllers to respond the system uncertainties and external disturbances compared with the results of other existing controllers.
Finally, the proposed controllers are applied practically in a real time for a DC shunt machine in order to show the superiority of developed FOSMCs and guarantee that all the proposed controllers are run on-line based real system. Thus, the control methodologies proposed in this study can be used to realize a robust controller capable of controlling nonlinear dynamical systems with acceptable response.