A Scheduling Approach for Systems with Actuator Constraints

执行器约束系统的一种调度方法。本研究旨在为具有有界执行器和其他约束（如执行器速率或状态界）的系统开发一类新的高性能输出反馈调度控制器。性能被定义为干扰衰减的保证水平，主要是从干扰到输出的能量增益，尽管其他措施也是可能的。主要假设是约束的知识（例如，饱和极限，速率界限）和最坏情况干扰的可能保守估计（例如，地震应用中的最大峰值地面加速度）。峰值干扰的估计用于在所有情况下建立稳定性和最小性能保证。调度的目的是消除潜在的保守性，并提供更强的性能，当干扰是不太严重的最坏情况。拟议的研究包括控制理论的任务，旨在表征预定的控制器与凸优化问题，和这些优化问题的计算方面的重点任务。 后者包括通过解决一系列适度大小的优化问题而不是具有大维度的单个问题来显著降低计算负担的技术。 任务与传统的反windup方法的建议调度技术的集成也包括在内。的主要动机一直是发展安全可靠的高性能控制法律的保护建筑物，桥梁，和类似的大型系统在民用基础设施。考虑到非常大的尺寸，以及干扰的突然和破坏性的性质（例如，地震或阵风），强烈需要能够调整（或在所提出的研究的术语中，调度）控制律以最大化固有有限的致动机构的有效性的控制器。所提出的方法可以容忍很大的不确定性的性质的干扰。它还保证了整体稳定性和更高的性能，同时提供了明确的工具，用于执行机构尺寸与性能保证之间的成本/效益分析。在计算方面，其中的主要问题被分解成一系列较小的问题，拟议的研究是必不可少的应用程序，以非常大的模型大型结构。此外，通过一些修改，所提出的技术可以应用于配备有几类半有源器件的结构。这些方面对于结构社区最终接受拟议的控制框架是必要的。

A Scheduling Approach for Systems with Actuator ConstraintsCMS-0510874PI: F. JabbariUniversity of California-IrvineAbstractThis research seeks to develop a new class of high performance output-feedback scheduled controllers, for systems with bounded actuators and other constraints (such as actuator rate or state bounds). Performance is defined as guaranteed levels of disturbance attenuation, primarily in terms of the energy gain from the disturbance to the outputs, though other measures are also possible. The main assumptions are knowledge of the constraints (e.g., saturation limits, rate bounds) and a possibly conservative estimate of the worst-case disturbance (e.g., maximum peak ground acceleration in earthquake applications). The estimate for the peak disturbance is used to establish stability and minimum performance guarantees in all cases. The scheduling is aimed at removing potential conservatism, and providing stronger performance, when the disturbance is less severe than the worst case. The proposed research includes control theoretic tasks, aimed at characterizing the scheduled controllers with convex optimization problems, and tasks that focus on the computational aspects of these optimization problems. The latter includes techniques to lower significantly the computational burden by solving a sequence of modest sized optimization problems, instead of a single problem with a large dimension. Tasks concerning the integration of the proposed scheduling technique with the traditional anti-windup approach are included also.The main motivation has been developing safe and reliable high performance control laws for protection of buildings, bridges, and similar large systems in civil infrastructure. Given the very large sizes, and the abrupt and destructive nature of the disturbances (e.g., earthquakes or wind gusts), there is a strong need for controllers that can adjust (or in the terminology of the proposed research, schedule) the control law to maximize the effectiveness of the inherently limited actuation mechanisms. The proposed approach can tolerate a great deal of uncertainty regarding the nature of the disturbance. It also guarantees overall stability and improved performance, while providing explicit tools for cost/benefit analysis regarding the size of the actuator vs. performance guarantees. The proposed research in computational aspects, in which the main problem is broken into a sequence smaller problems, is essential for application to large structures with very large models. Additionally, with some modifications, the proposed technique can be applied to structures equipped with several classes of semi-active devices. These aspects are necessary for the eventual acceptance of the proposed control framework by the structural community.