Nonlinear and Adaptive Control with Unmodeled Dynamics

具有未建模动力学的非线性和自适应控制

• 批准号: 0228846
• 负责人: Petar Kokotovic
• 金额: $ 31万
• 依托单位: University of California-Santa Barbara
• 依托单位国家: 美国
• 项目类别: Continuing grant
• 财政年份: 2002
• 资助国家: 美国
• 起止时间: 2002-09-15 至 2006-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0228846&HistoricalAwards=false
• 关键词: Nonlinear; Adaptive; Control; Unmodeled; Dynamics

The wide diversity of applications, from aero and automotive engines to micro and nano systems, requires a diversity of nonlinear feedback designs, which remain an important research direction. However, the increased availability of nonlinear design methods must be accompanied with a fuller understanding of their robustness properties with respect to unmodeled dynamics, ubiquitous in all engineering applications. Strong nonlinearities interacting with unmodeled dynamics may cause instability phenomena that cannot be handled by linear robust control methods. New nonlinear robustness analysis and compensation methods are needed to increase the applicability of nonlinear designs. The two main themes in this proposal are, first, analysis of the behavior of nonlinear feedback systems caused by significant dynamics not included in their nominal design models, and, second, static and dynamic compensation methods to improve stability properties and performance in the presence of unmodeled dynamics. After a brief overview of the accomplishments under the current grant in Part One, the effects of unmodeled dynamics and possible remedies are introduced through simple examples in Part Two. The research plan, described in Part Three, proposes an in-depth analysis and characterization of systems with minimum and nonminimum phase unmodeled dynamics. It then suggests promising directions for performance improvement by compensation and structure specific robust redesigns.

从航空和汽车发动机到微纳系统的广泛应用需要各种非线性反馈设计，这仍然是一个重要的研究方向。然而，非线性设计方法的可用性增加，必须伴随着一个更全面的了解他们的鲁棒性相对于未建模的动态，无处不在的所有工程应用。强非线性与未建模动态相互作用可能导致线性鲁棒控制方法无法处理的不稳定现象。需要新的非线性鲁棒性分析和补偿方法来增加非线性设计的适用性。在这个建议中的两个主要主题是，第一，非线性反馈系统的行为所造成的显着动态不包括在其标称设计模型的分析，以及，第二，静态和动态补偿方法，以提高稳定性和性能的未建模动态的存在。 在第一部分中简要概述了当前资助下的成就之后，第二部分通过简单的例子介绍了未建模动态的影响和可能的补救措施。研究计划，在第三部分中描述，提出了一个深入的分析和表征系统的最小和非最小相位未建模动态。 然后，它提出了有前途的方向，通过补偿和结构特定的鲁棒重新设计的性能改善。