Adaptive Robust Control of Nonlinear Systems with Application to Control of Mechanical Systems.pdf

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1、AdaptiveRobustControlofNonlinearSystemswithApplicationtoControlofMechanicalSystemsbyBinYaoB.Eng.(BeijingUniversityofAeronauticsandAstronautics,P.R.China)1987M.Eng.(NanyangTechnologicalUniversity,Singapore)1992Adissertationsubmittedinpartialsatisfactionoftherequ

2、irementsforthedegreeofDoctorofPhilosophyinMechanicalEngineeringintheGRADUATEDIVISIONoftheUNIVERSITYofCALIFORNIAatBERKELEYCommitteeincharge:ProfessorMasayoshiTomizuka,ChairProfessorKarlJ.HedrickProfessorS.ShankarSastry19961AbstractAdaptiveRobustControlofNonlinea

3、rSystemswithApplicationtoControlofMechanicalSystemsbyBinYaoDoctorofPhilosophyinMechanicalEngineeringUniversityofCaliforniaatBerkeleyProfessorMasayoshiTomizuka,ChairThisdissertationfocusesonthehighperformancerobustcontrolofnonlinearsystemsinthepresenceofparametr

4、icuncertaintiesanduncertainnonlinearities(e.g.,disturbances)anditsapplicationtothecontrolofmechanicalsystems.Anewapproach,adaptiverobustcontrol(ARC),isproposed.Theapproacheectivelycombinesthedesigntechniquesofadaptivecontrol(AC)anddeterministicrobustcontrol(DR

5、C)andimprovesperformancebypreservingtheadvantagesofbothACandDRC.Speci-cally,theapproachguaranteesasuperiorperformanceintermsofbothtransienterrorandnaltrackingaccuracyinthepresenceofparametricuncertaintiesanduncertainnonlinearities.Thisresultovercomesthedrawba

6、cksofACandmakestheapproachattractivetorealapplications.Throughparameteradap-tation,theapproachachievesasymptotictrackinginthepresenceofparametricuncertaintieswithoutusingahigh-gaininthefeedbackloop,whichimpliesthatthecontrolinputissmooth.Inthissense,ARChasabett

7、ertrackingperformancethanDRC.Thedesignisconceptuallysimpleandamenabletoimplementation.AgeneralframeworkoftheproposedARCisformulatedintermsofadaptiverobustcontrol(ARC)Lyapunovfunctions.Throughbacksteppingdesign,ARCLyapunovfunctionscanbesuccessfullyconstructedfor

8、alargeclassofmulti-inputmulti-output(MIMO)nonlinearsystemstransformabletoasemi-strictfeedbackform.Themethodisappliedtothecontrolofrobotmanipulatorsinseveralapplications.Fort