Advanced robust nonlinear control and its applications to remotely controlled electro-mechanical systems

在控制工程中，在航空航天、制造、运输和医疗保健服务等应用领域，实现机电系统的高性能要求很高。拟议的项目解决了控制工程的主要综合挑战和机遇之一：用于实际遥控机电系统的非线性控制理论。先进非线性控制的研究是当今世界控制系统领域的一个重要理论领域。远程控制机电系统研究的主要挑战是在系统中涉及一个额外的通信回路时，需要达到期望的控制性能。现有文献大多针对线性系统的远程控制问题，而非线性远程控制系统由于其复杂性和系统的不确定性而鲜有人关注。这一建议的目标是发展鲁棒非线性最优控制、鲁棒非线性重复控制、基于鲁棒估计和预测的控制方法以及在各种遥控机电系统中的应用。远程控制系统将在人类无法进入的各种工业环境中有潜在的应用，如外层空间、海底、危险环境和偏远地点。在这种结构中，操作任务可以在远程现场执行，并且可以利用现代技术实现自动化。拟议的研究将首先帮助申请者建立一个机电一体化、控制和机器人研究实验室，这将使学生接触到这些研究领域的最新技术，然后有助于弥合理论研究和工程实践之间的差距。

In control engineering, achieving high performance of electro-mechanical systems is highly demanding, in application areas such as aerospace, manufacturing, transportation and health care services. The proposed project addresses one of the main integrated challenges and opportunities for control engineering: nonlinear control theory for real remotely controlled electro-mechanical systems. The research on advanced nonlinear control is an important theoretical area in the worldwide control systems society. The main challenge for research on remotely controlled electro-mechanical systems is the need to achieve the desired control performance where one additional communication loop is involved in the system. Most existing literature deals with the remote control of linear systems while nonlinear remote control systems have received little attention due to its complexity and system uncertainties. This proposal targets on developing robust nonlinear optimal control, robust nonlinear repetitive control, robust estimation and prediction based control approaches and the applications to various remotely controlled electro-mechanical systems. Remote control systems would have potential applications in various industrial environments where the work place is inaccessible to humans such as outer space, undersea, hazardous environments and remote sites. In this structure, the operating tasks can be executed in distant sites and automation is realizable by modern technology. The proposed research will first help the applicant to establish a research laboratory for mechatronics, control and robotics, which will expose the students to the latest techniques in these research areas and then help to bridge the gap between theoretical research and engineering practice.