Research Initiation Award: Adaptive Inverse Control of Systems With Practical Nonsmooth Nonlinearities

9307545 Tao本提案描述了一个探索自适应控制新领域的项目，并解决与理论和应用迫切相关的开放问题：由线性部分和非光滑非线性输入-输出特性组成的系统的自适应控制在执行器或传感器中。这种非线性特性的典型例子是死区、间隙和迟滞。提出了一种自适应逆控制方法来控制这些系统以满足期望的性能指标，该方法利用了对未知非线性的自适应逆和对已知/未知线性部分的非自适应/自适应线性控制器结构。将研究非线性模型的选择、自适应逆控制算法的设计、稳定性、收敛性和鲁棒性分析以及应用。本研究结果将为处理实际控制系统中常见的未知非光滑非线性提供新的工具。* * *

9307545 Tao This proposal describes a project to explore a new area of adaptive control and to address open problems of urgent relevance to theory as well as applications: adaptive control of systems consisting of a linear part and a nonsmooth nonlinear input- output characteristic being in either an actuator or a sensor. Typical examples of such nonlinear characteristics are dead-zone, backlash and hysteresis. An adaptive inverse approach is proposed to control such systems to meet desired performance specifications, which exploits an adaptive inverse for an unknown nonlinearity and a linear controller structure nonadaptive/adaptive for a known/unknown linear part. Choices of nonlinear models, design of adaptive inverse control algorithms, stability, convergence and robustness analysis, and applications will be investigated. The results of this research will provide new tools to handle unknown nonsmooth nonlinearities which are common in practical control systems. ***