EAGER: A Holistic Approach to Adaptive Robust Control of Systems with Uncertain Nonsmooth Nonlinearities with Application to Cable-Conduit Actuated Surgical Robotic Devices

EAGER：一种对具有不确定非光滑非线性的系统进行自适应鲁棒控制的整体方法，并应用于电缆导管驱动的手术机器人设备

• 批准号: 1052872
• 负责人: Bin Yao
• 金额: $ 14万
• 依托单位: Purdue University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2010
• 资助国家: 美国
• 起止时间: 2010-09-01 至 2013-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1052872&HistoricalAwards=false
• 关键词: EAGER; Holistic; Approach; Adaptive; Robust

The research objectives of this EArly-concept Grants for Exploratory Research (EAGER) award are to (i) develop effective compensations for typical nonsmooth nonlinearities to maximize the achievable control performance in implementation without the sensitivity problems of existing perfect inversion based designs; (ii) develop quantitative parameter estimation algorithms for uncertain nonsmooth nonlinearities through a combination of explicit monitoring of experimental conditions and the use of physical model based parameter estimations; (iii) take a holistic mechatronic approach to the control of systems having nonsmooth nonlinearities to develop suitable model structures for controls and effective adaptive robust controllers that can achieve high performance in practice without being overly complex or having degraded life-expectancy of system components; and (iv) apply the proposed holistic mechatronic control framework to the control of cable-conduit actuated mechanisms for surgical robotic systems, the ultra-precision control of piezoelectric actuator driven nano-positioning stages for high-speed nano-technology operations, and the control of other modern mechanical systems such as high-speed electro-magnetic motor driven and electro-hydraulic/pneumatic actuated ones for an improved productivity and quality.The proposed research departs from the prevailing design philosophy of perfect inversion based nonsmooth nonlinearity compensation and provides a novel perspective to the effective compensation of nonsmooth nonlinearities. In addition, as opposed to focusing on only a subset of an entire control problem to be dealt with in reality, the proposed research takes a holistic mechatronic approach to the modeling and control of systems with nonsmooth nonlinearities. The set of tools generated through the research will enable engineers to systematically quantify the effects of various implementation imperfections to maximize the achievable control performance in practice without the sensitivity problem of existing designs. If successful, the results of this research will be integrated into the curriculum to have a lasting impact on future control education. The results will also provide a solid foundation to the design of a new generation of controllers which help industry build modern machines of great performance and intelligence with built-in machine component health monitoring capability.

EARLY概念探索性研究赠款奖的研究目标是（i）为典型的非光滑非线性开发有效的补偿，以最大限度地提高可实现的控制性能，而不存在现有基于完美逆的设计的敏感性问题;（二）通过对实验条件的显式监控，开发针对不确定非光滑非线性的定量参数估计算法和使用基于物理模型的参数估计;（iii）采取整体机电一体化的方法来控制具有非光滑非线性的系统，以开发用于控制的合适的模型结构和有效的自适应鲁棒控制器，其可以在实践中实现高性能，而不会过于复杂或降低系统部件的预期寿命;以及（iv）将所提出的整体机电控制框架应用于手术机器人系统的线缆-导管致动机构的控制，用于高速纳米技术操作的压电致动器驱动的纳米定位平台的超精确控制，该研究突破了基于完全逆的非光滑非线性补偿的设计思想，为非光滑非线性的有效补偿提供了一个新的视角。此外，相对于只关注一个子集的整个控制问题要处理的现实，所提出的研究采取了整体机电一体化的方法来建模和控制系统的非光滑非线性。通过研究产生的一套工具将使工程师能够系统地量化各种实施缺陷的影响，以最大限度地提高实际可实现的控制性能，而不存在现有设计的敏感性问题。如果成功的话，这项研究的结果将被纳入课程，对未来的控制教育产生持久的影响。研究结果还将为新一代控制器的设计提供坚实的基础，这些控制器可帮助工业界构建具有内置机器组件健康监测功能的高性能和智能的现代机器。