A Scheduling Approach for Systems with Actuator Constraints

一种具有执行器约束的系统调度方法本文旨在为具有有界执行器和其他约束（如执行器速率或状态边界）的系统开发一类新的高性能输出反馈调度控制器。性能被定义为保证干扰衰减的水平，主要是根据从干扰到输出的能量增益，尽管其他措施也是可能的。主要假设是了解约束条件（例如，饱和极限，速率界限）和对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）。对峰值扰动的估计用于在所有情况下建立稳定性和最低性能保证。调度的目的是在干扰小于最坏情况的情况下，消除潜在的保守性，提供更强的性能。提出的研究包括控制理论任务，旨在描述具有凸优化问题的计划控制器，以及关注这些优化问题的计算方面的任务。后者包括通过解决一系列中等规模的优化问题来显著降低计算负担的技术，而不是解决具有大维度的单个问题。本文还讨论了将所提出的调度技术与传统的防上机方法相结合的问题。主要动机是开发安全可靠的高性能控制法律，以保护建筑物、桥梁和民用基础设施中的类似大型系统。考虑到非常大的尺寸，以及干扰（例如，地震或阵风）的突发性和破坏性，强烈需要能够调整（或在拟议研究的术语中，调度）控制律的控制器，以最大限度地提高固有有限的驱动机制的有效性。所提出的方法可以容忍有关干扰性质的大量不确定性。它还保证了整体稳定性和改进的性能，同时为执行器尺寸与性能保证之间的成本/效益分析提供了明确的工具。在计算方面的研究，将主要问题分解成一系列较小的问题，对于应用于具有非常大模型的大型结构是必不可少的。此外，经过一些修改，所提出的技术可以应用于配备几种半有源器件的结构。这些方面对于结构界最终接受所提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.