Practical and Performance Oriented Nonlinear Adaptive Robust Control -- Theory and Applications to Precision Control of Modern Mechanical Systems

主要研究者：姚斌研究机构：普渡大学提案编号：0220179题目：面向实用和性能的非线性自适应鲁棒控制--现代机械系统精确控制的理论和应用摘要：本计画的目标是：（i）发展一个实用且面向性能的非线性自适应鲁棒控制器（PARC）设计的一般架构明确考虑到典型实现约束的影响，同时不牺牲可实现的实现性能，并且结构简单为了便于设计和实施，（ii）确定实际上有意义的标准和适当的优化算法，其可以用于系统地确定用于优化的控制性能的PARC参数，以及（iii）将集成PARC设计应用于由电磁马达或电液致动器驱动的高速机械系统的精确控制，以及高-速度机器人操纵器。针对现有自适应鲁棒控制器的结构复杂性，提出了一种新的非线性鲁棒反馈综合设计思想--采用适当的固定结构的非线性鲁棒反馈，克服了控制输入饱和、测量噪声、并且可以通过全局非线性合成和局部准线性分析的组合来明确地分析和量化被忽略的高频动态。该研究强调一般的理论发展和建议的PARC与应用程序的特定特性的集成。该教育计划的重点是对现有的本科和研究生控制课程进行深入的重新审视，为学生在控制教育的早期阶段建立正确的控制设计理念，以及开发面向性能的非线性自适应和鲁棒控制创新课程。所提出的研究的动机是缺乏先进的，但实际的性能导向的非线性自适应鲁棒控制设计，需要在工程控制课程，以满足工业需要的高生产率和高质量的产品。一旦成功完成，结果将对未来的控制课程，在本科和研究生水平产生持久的影响。研究结果也对工业产生了直接影响，因为它们直接解决了实践工程师在应用先进的非线性控制方面的共同问题。

Principle Investigator: Bin YaoInstitution: Purdue UniversityProposal Number: 0220179Title:Practical and Performance Oriented Nonlinear Adaptive Robust Control -- Theory and Applications to Precision Control of Modern Mechanical SystemsAbstract: The goals of this project are to (i) develop a general framework for the design of practical and performance oriented nonlinear adaptive robust controllers (PARC) that explicitly take into account the effects of typical implementation constraints while without sacrificing achievable implementation performance much and being structurally simple to facilitate design and implementation, (ii) determine practically meaningful criteria and appropriate optimization algorithms that can be used to systematically determine PARC parameters for an optimized control performance, and (iii) apply the integrated PARC design to the precision control of high-speed mechanical systems driven by either electro-magnetic motors or electro-hydraulic actuators as well as the coordinated control of high-speed robot manipulators. A fundamentally different new design philosophy on synthesizing nonlinear robust feedback is adopted to solve the structural complexity of existing adaptive robust controllers-proper nonlinear robust feedback with fixed structures is used so that the effects of typical implementation constraints such as the control input saturation, measurement noise, and neglected high frequency dynamics can be explicitly analyzed and quantified through a combination of global nonlinear synthesis and local quasi-linear analysis. The research emphasizes both general theory development and the integration of the proposed PARC with the particular characteristics of the application. The education plan focuses on the in-depth re-examination of current undergraduate and graduate control curriculum to set the right control design philosophy for students during their early stage of control education, as well as developing innovative course on performance-oriented nonlinear adaptive and robust controls. The proposed research is motivated by the lack of advanced and yet practical performance-oriented nonlinear adaptive robust control designs that are needed in engineering control curriculum to meet industry needs for high productivity and quality products. Once successfully completed, the results will have a lasting impact on future control curriculum, at both the undergraduate and the graduate level. The results also have a direct impact on industry as they directly address the common concerns of practicing engineers in applying advanced nonlinear controls.