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

主要研究人员：姚斌研究所：普渡大学提案编号：0220179题目：实用和性能导向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：本项目的目标是(I)开发一个通用的框架，用于设计实用的和面向性能的非线性自适应鲁棒控制器(PARC)，其明确地考虑典型实现约束的影响，同时不牺牲可实现的实现性能，并且结构简单以便于设计和实现，(Ii)确定可用于系统地确定用于优化控制性能的Parc参数的具有实际意义的准则和适当的优化算法，以及(Iii)将集成的PARC设计应用于由电磁电机或电液致动器驱动的高速机械系统的精密控制以及高速机器人操作手的协调控制。针对现有自适应鲁棒控制器结构复杂的问题，采用了一种完全不同的新的设计思想--采用适当的固定结构的非线性鲁棒反馈，通过全局非线性综合和局部拟线性分析相结合的方法，明确分析和量化了控制输入饱和、测量噪声和被忽略的高频动态等典型实现约束的影响。这项研究既强调一般理论的发展，也强调将拟议的PARC与应用的特殊特征相结合。该教育计划的重点是深入重新审查现有的本科生和研究生控制课程，以便在控制教育的早期阶段为学生设定正确的控制设计理念，以及开发以性能为导向的非线性自适应和鲁棒控制的创新课程。这项研究的动机是缺乏先进的、实用的、面向性能的非线性自适应鲁棒控制设计，而工程控制课程需要这些设计来满足工业对高生产率和高质量产品的需求。一旦成功完成，结果将对未来的控制课程产生持久的影响，无论是本科生还是研究生。这些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共同关心的问题。

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.