Research Initiation: A Passivity-Based Control Methodology for Distribution Parameter Systems (SGER Supplement)

这个项目的目的是开发工具来分析 闭环分布参数控制系统稳定性 与工厂的不确定性，并应用这些工具的设计 鲁棒稳定控制器 在控制 机械系统，分布参数植物模型往往是 使用，因为主要优点集总参数模型。 然而，由于具有非常大的自由度， 分布参数模型及其实际局限性 计算资源，控制问题所面临的 保持整个工厂稳定的挑战性任务 具有基于不精确开环的低维控制器 植物信息。 该项目建议将被动性 方法来解决鲁棒稳定性分析和鲁棒 控制器设计问题与此方案有关。 被动 系统被定义为具有共置的传感器和致动器的系统。 该方法具有结合时域 分析（以推断稳定性）和频域分析。 本项目研究的四个主题包括：（1） 将参数稳健性要求纳入 被动方法，（2）将被动方法推广到 无界输入输出算子;（3）降低保守性 在基于无源性的鲁棒性分析中， 乘子技术;（4）验证理论结果 通过模拟和实验室实验。

The intent of this project is to develop tools to analyze stability of a closed loop distributed parameter control system with plant uncertainties, and to apply these tools to the design of robustly stabilizing controllers. In the control of mechanical systems, distributed parameter plant models are often used because of major advantages over lumped parameter models. However, with the very large number of degrees of freedom in distributed parameter models and the practical limitation of computational resources, the control problem faces the challenging task of maintaining stability of the entire plant with a low dimensional controller based on inexact open loop plant information. This project proposes to extend the passivity approach to address the robust stability analysis and robust controller design problems related to this scenario. A passive system is defined as one having colocated sensors and actuators. The approach has the advantage of combining the time domain analysis (to infer stability), and the frequency domain analysis. The four topics investigated in this project include (1) incorporating the parameter robustness requirement in the passivity method, (2) generalizing the passivity approach to unbounded input and output operators, (3) reducing conservatism in the passivity based robustness analysis by using the optimal multiplier technique, and (4) validating the theoretical results through simulation and laboratory experiments.