GOALI: Adaptive Control of Sandwich Nonlinear Systems with Applications

ECS-9619363是一项产学研合作项目，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、具有迫切理论和应用意义的广泛控制问题。所提出的研究将集中于具有线性和非光滑非线性动态的夹层系统的自适应控制和具有光滑和非光滑非线性动态的双层系统的自适应控制。典型的非光滑非线性特征是死区、间隙、滞后、其他分段线性化以及摩擦，它们是控制系统中部件缺陷的主要来源。所提出的自适应逆控制方法采用自适应逆来消除非线性影响，以达到改善系统性能的目的。这种方法为使用一种新的基于算法的技术来设计控制系统指明了一个新的方向，这种技术在经过一段时间的学习或适应后，可以识别部件的缺陷并补偿它们的有害影响。有了这种自适应控制器，可以大大放宽元件规格，降低成本，提高可靠性。这一研究成果将极大地提高自适应控制的知识水平，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，并在高精度控制系统至关重要的国防和民用工业中具有广泛的应用前景。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