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

先进鲁棒非线性控制及其在远程控制机电系统中的应用

基本信息

批准号：
327193-2006
负责人：
Pan, YaJun
金额：
$ 1.24万
依托单位：
Dalhousie University
依托单位国家：
加拿大
项目类别：
Discovery Grants Program - Individual
财政年份：
2006
资助国家：
加拿大
起止时间：
2006-01-01 至 2007-12-31
项目状态：
已结题

来源：
https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=334056
关键词：
Advanced robust nonlinear control its

项目摘要

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.

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：真实远程控制机电系统的非线性控制理论。先进非线性控制的研究是全球控制系统学会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需要在系统中涉及一个额外的通信回路时实现所需的控制性能。大多数现有文献涉及线性系统的远程控制，而非线性远程控制系统由于其复杂性和系统不确定性而很少受到关注。该提案的目标是开发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远程控制机电系统中的应用。远程控制系统将在人类无法进入的各种工业环境中具有潜在的应用，例如外太空、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站点执行，并且通过现代技术实现自动化。拟议的研究将首先帮助申请人建立机电一体化、控制和机器人技术的研究实验室，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。