GOALI: Adaptive Control of Sandwich Nonlinear Systems with Applications

本提案描述了一个校企合作的研究项目，旨在探索自适应控制的一个新领域：夹层非线性系统的自适应控制，并解决一些长期存在的、广泛的、迫切相关的理论和应用的控制问题。本文将重点研究具有线性和非光滑非线性动力学的夹层系统的自适应控制，以及具有光滑和非光滑非线性动力学的双层系统的自适应控制。典型的非光滑非线性特性是死区、间隙、滞后、其他分段线性以及摩擦，这是控制系统中部件缺陷的主要来源。提出的自适应逆控制方法采用自适应逆来抵消非线性效应，以达到提高系统性能的目的。这种方法指出了使用一种新的基于算法的技术来设计控制系统的新方向，这种技术经过一段时间的学习或适应后，可以识别组件的缺陷并补偿其有害影响。有了这种自适应控制器，元件规格可以大大放宽，成本降低，可靠性提高。本研究的结果将大大提高自适应控制的知识，为有效处理困扰控制系统建设者多年的实际非线性问题提供新的工具，并在国防和民用工业中有许多应用，其中高精度控制系统是重要组成部分。a - 1

ECS-9619363 Tao This proposal describes a university-industry collaborative research project to explore a new area of adaptive control: adaptive control of sandwich nonlinear systems, and to solve some long-standing and wide-range control problems of urgent relevance to theory as well as applications. The proposed research will focus on adaptive control of sandwich systems with linear and nonsmooth nonlinear dynamics and on adaptive control of two-layer systems with smooth and nonsmooth nonlinear dynamics. Typical nonsmooth nonlinear characteristics are dead-zone, backlash, hysteresis, other piecewise-linearities as well as frictions which are the main sources of component imperfections in control systems. The proposed adaptive inverse control approach employs an adaptive inverse to cancel the nonlinearity effects in order to achieve system performance improvements. This approach points to a new direction to design control systems using a new algorithm-based technology, which, after a period of learning or adaptation, can recognize component imperfections and compensate for their harmful effects. With such adaptive controllers, the component specifications could be greatly relaxed, their cost reduced, and their reliability increased. The results of this research will advance the knowledge of adaptive control significantly, provide new tools to effectively handle practical nonlinearities which have haunted the constructors of control systems for many years, and have many applications in defense and civil industries in which high-precision control systems are vital components. A-1