Adaptive Robust Control–Theory and Application to Precision and Energy Saving Control of Electro-Hydraulic Systems

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1、NSFGRANT#0600516NSFPROGRAMNAME:Dr.SuhadaJayasuriyaAdaptiveRobustControl–TheoryandApplicationtoPrecisionandEnergySavingControlofElectro-HydraulicSystemsBinYaoSchoolofMechanicalEngineeringPurdueUniversityWestLafayette,IN47907-1288Abstract:Thesalientfeaturesoftheproposedadaptiveuncertaintiesma

2、ycomefromeither(i)parametersofrobustcontrol(ARC)lieintheseamlessintegrationofthesystemmodelwhichmaydependonoperating(i)appropriatenonlinearrobustfeedbackcontrolsthatconditionsandmaynotbepreciselyknowninadvancearephysicallyrealizablewhilehavingtargetedlocal(e.g.,inertiaofanobjectgraspedbyaro

3、bot),or(ii)high-gainfeedbacksothattheeffectofvariousmodelnonlinearitieswhichcannotbemodeledexactly(e.g.,uncertaintiescanbesufficientlyattenuatedtoguaranteenonlinearfrictioncharacteristics)ortermswhichcertainconsistentrobustcontrolperformanceand(ii)changewithtimerandomly(e.g.,externalcontrol

4、ledlearningtoreducemodeluncertaintiestodisturbances);theformerisreferredtoasparametricmaximizetheachievablecontrolperformanceanduncertaintiesandthelatterasuncertainnonlinearities.facilitatetheconstructionofcertainbuilt-inTomeettheseeverincreasinglystringentcontrolintelligences.Suchadesignph

5、ilosophyiswellin-lineperformancerequirements,controlengineershavebeenwithhowhumanbeingsutilizefeedbackinformationforcedtolookbeyondtraditionallinearcontroltheoryandmakesitwellsuitedfortheintegrateddesignofformoreadvancednonlinearcontrollerswhichcanintelligentandprecisionmechatronicsystems,a

6、sdirectlydealwithvariousnonlinearitiesandmodeldemonstratedthroughvariousapplicationsincludinguncertainties.Therehasbeenanexponentialgrowthintheelectricalmotordrivenmechanicalsystemswithnonlinearcontrolresearchduringthepasttwodecades,controlaccuracydowntosub-micrometerlevelsandwithmajoradvan

7、cesandbreakthroughsreportedinpiezo-electricalactuatordrivennano-positioningboththenonlineardeterministicrobustcontrol(DRC)systemsfornanotechnologyapplications.Thispaperisarea[1-4]andadaptiveorrobustadaptivecontroltointroduceresearchersandpracticingengine