Time Delay Control Theory and Applications

时滞控制理论及应用

• 批准号: 9114595
• 负责人: Kamal Youcef-Toumi
• 金额: $ 18万
• 依托单位: Massachusetts Institute of Technology
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1992
• 资助国家: 美国
• 起止时间: 1992-10-01 至 1996-03-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9114595&HistoricalAwards=false
• 关键词: Time; Delay; Control; Theory; Applications

This research project deals with design and implementation of time-delay control theory for linear and nonlinear systems. The technique combines parametric adaptation, past observations to directly estimate the effect of plant dynamics, state feedback and command feedforward signals to achieve proper command following. The basic function of the controller is to observe the system present, and delayed input and output responses at each sampling time, and then modify the control actions directly rather than using a model-based forward term or adjusting controller gains as is commonly done in other methods. The results of this research could potentially benefit control of systems with unknown dynamics and unpredictable disturbances such as undersea vehicles and robotic manipulators. In addition, significant contributions could be made to the areas of learning control and intelligent control also.*** //

该研究项目涉及线性和非线性系统的时滞控制理论的设计和实现。该技术结合了参数适应、过去的观察来直接估计对象动态、状态反馈和命令前馈信号的影响，以实现正确的命令跟随。控制器的基本功能是在每个采样时间观察系统的存在和延迟的输入和输出响应，然后直接修改控制动作，而不是像其他方法中常见的那样使用基于模型的前向项或调整控制器增益。这项研究的结果可能有利于对具有未知动力学和不可预测干扰的系统的控制，例如海底车辆和机器人操纵器。此外，还可以对学习控制和智能控制领域做出重大贡献。*** //