Robust feedback control of negative imaginary systems: From foundations to benchmark applications

负虚数系统的鲁棒反馈控制：从基础到基准应用

• 批准号: EP/R008876/1
• 负责人: Alexander Lanzon
• 金额: $ 60.55万
• 依托单位: University of Manchester
• 依托单位国家: 英国
• 项目类别: Research Grant
• 财政年份: 2018
• 资助国家: 英国
• 起止时间: 2018 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=EP%2FR008876%2F1
• 关键词: Robust; feedback; control; negative; imaginary

The emerging theory of negative imaginary systems is attracting increasing interest amongst control systems researchers because it captures a wide range of practical problems. Negative imaginary dynamics often arise as a simple fundamental consequence of Newton's second law of motion. Often control systems performance can be significantly improved, despite demanding robustness requirements and difficult dynamics, by directly exploiting system properties. The study of negative imaginary systems can lead to potential improvements in several engineering fields including areas of advanced technology such as nano-positioning systems, control of multi-agent dynamical systems, distributed network control, mechatronics and robotics among others.This work will develop new results in the theory of negative imaginary systems. These results will underpin controller design methods and controller tuning guidelines for this class of systems. The developed methodologies will be applied to several specific benchmark applications and case studies. Wide dissemination of the advantages of the negative imaginary concepts will be a key aspect of this work.

负虚系统的新兴理论吸引了越来越多的控制系统研究者的兴趣，因为它捕捉了广泛的实际问题。负虚动力学经常作为牛顿第二运动定律的一个简单的基本结论而出现。通常，控制系统的性能可以显着提高，尽管苛刻的鲁棒性要求和困难的动态，直接利用系统的属性。负虚系统的研究可以导致潜在的改进，在几个工程领域，包括先进技术领域，如纳米定位系统，多智能体动力系统的控制，分布式网络控制，机电一体化和机器人等。这项工作将发展新的成果，在负虚系统的理论。这些结果将支持控制器的设计方法和控制器整定这类系统的指导方针。开发的方法将应用于几个具体的基准应用和案例研究。广泛传播消极想象概念的优点将是这项工作的一个关键方面。

项目成果

Time-domain output negative imaginary systems and its connection to dynamic dissipativity

• DOI: 10.1109/cdc42340.2020.9304292
• 发表时间: 2020-09
• 期刊: 2020 59th IEEE Conference on Decision and Control (CDC)
• 作者: P. Bhowmick;A. Lanzon

Sensor blending and Control allocation for non-square linear systems to achieve negative imaginary dynamics

非方形线性系统的传感器混合和控制分配以实现负虚动态

• DOI: 10.1016/j.ifacol.2020.12.497
• 发表时间: 2020
• 期刊: IFAC-PapersOnLine
• 作者: Bhowmick P

Properties of positive feedback interconnected negative imaginary systems

• DOI: 10.23919/ascc56756.2022.9828277
• 发表时间: 2022-05
• 期刊: 2022 13th Asian Control Conference (ASCC)
• 作者: P. Bhowmick;Hsueh-Ju Chen;A. Lanzon

Development and stabilization of a low-cost single-tilt tricopter

低成本单倾斜三轴飞行器的开发和稳定

• DOI: 10.1016/j.ifacol.2020.12.1411
• 发表时间: 2020
• 期刊: IFAC-PapersOnLine
• 作者: Abara D

Output strictly negative imaginary systems and its connections to dissipativity theory

• DOI: 10.1109/cdc40024.2019.9030016
• 发表时间: 2019-07
• 期刊: 2019 IEEE 58th Conference on Decision and Control (CDC)
• 作者: P. Bhowmick;A. Lanzon