Design of High Performance Controllers for Complex Mechanical Systems

迫切需要开发新的和关键的控制方法 方法，将明确解决多个 受控机械系统的性能要求， 不再强调对非常精确的过程模型的绝对依赖。 这个问题可以表述如下：给定一个过程模型， 混合不确定性，一组性能规格，以及 高频率稳定裕度，开发一种控制器， 在给定公差内提供输出性能， 同时保持闭环稳定性， 不确定性。这项研究使用的频率响应 定量反馈理论的方法来研究（1） 复杂机械系统的控制系统设计， 模型显示低频参数不确定性， 高频柔性效应，（2）发展 高性能跟踪精度的控制算法 （3）这些系统的实验验证 电动液压钻机上的算法

There exists an urgent need to develop new and critical control methodologies that will explicitly address the multiple performance requirements of controlled mechanical systems, while deemphasizing absolute reliance on very accurate process models. The problem can be stated as follows; given a process model with mixed uncertainty, a set of performance specifications, and a high frequency stability margin, develop a controller which will provide output performance within the given tolerances and simultaneously maintain closed loop stability in the presence of the uncertainties.This research uses the frequency response method of quantitative feedback theory to investigate (1) the design of control systems for complex mechanical systems whose models display low frequency parametric uncertainty as well as high frequency flexibility effects, (2) the development of control algorithms for high performance trackiing accuracy of such systems, and (3) the experimental validation of the algorithms on an electrohydraulic rig.