Robust Adaptive Boundary Control of a Thermal Process with Thermoelectric Actuators: Theory and Experimental Validation

Abstract

A sliding-mode-based adaptive boundary control law is proposed for a class of uncertain thermal reaction-diffusion processes subject to matched disturbances. The disturbances are assumed to be bounded, but the corresponding bounds are unknown, thus motivating the use of adaptive control strategies. A boundary control law comprising a proportional and discontinuous term is proposed, wherein the magnitude of the discontinuous relay term is adjusted via a gradient-based adaptation algorithm. Depending on how the adaptation algorithm is parameterized, the adaptive gain can be either a nondecreasing function of time (monodirectional adaptation) or it can both increase and decrease (bidirectional adaptation). The convergence and stability properties of these two solutions are investigated by Lyapunov analyses, and two distinct stability results are derived, namely, asymptotic stability for the monodirectional adaptation and globally uniformly ultimately bounded solutions for the bidirectional adaptation. The proposed algorithms are then specified to address the control problem of stabilizing a desired temperature profile in a metal beam equipped with thermoelectric boundary actuators. Experiments are conducted to investigate the real-world performance of the proposed sliding-mode-based adaptive control, with a particular focus on comparing the monodirectional and bidirectional adaptation laws.