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Contributions to robust control of systems with parametric uncertainties.

机译：对具有参数不确定性的系统的鲁棒控制做出贡献。

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摘要

The robustness of a control system for a plant with parametric uncertainties is, in a broad sense, its capability of maintaining desired control performance in spite of possible discrepancy between nominal and actual values of plant parameters. It is practically very important to analyze how robust control systems are and to synthesize control systems that achieve good robustness. Robust control addresses these problems. The purpose of this dissertation is to present several novel methods and results related to robust control of systems with parametric uncertainties. Two separate topics are treated in this dissertation. The first topic is probabilistic robust control analysis and synthesis for linear systems. In the probabilistic robust control framework, uncertain plant parameters are characterized as random variables with known joint probability density function and the robustness of a control system is quantified by the probability that the system satisfies desired performance specifications. Under the assumption that the uncertain parameters are jointly Gaussian, we present an analysis method to analytically approximate the probability that the system is asymptotically stable and meets a quadratic performance specification. We also present a synthesis method to maximize this approximate probability. The second topic is robust stabilization of unstable periodic orbits in nonlinear dynamic systems possessing parametric uncertainties. The challenge is to achieve robust stability of orbital motion when both the period and the location of the periodic orbit are uncertain. We address this problem by extending the method of Generalized Sampled-Data Hold Function control of linear periodic systems in two ways. First, a change of independent variable is introduced, from time to a new angular variable, making the control logic event-driven rather than time-driven. Second, an adaptation strategy is introduced, whereby the uncertain parameters are estimated online, the reference periodic orbit is computed based on the parameter estimates, and event-driven control is implemented to stabilize the motion about the parameter-dependent reference periodic orbit. This adaptive event-driven strategy is applied to the robust stabilization of an unstable Halo orbit in the Earth-Sun system under uncertainty of the mass parameter.
机译：从广义上讲，具有参数不确定性的工厂的控制系统的鲁棒性是尽管工厂参数的标称值与实际值可能存在差异，但仍能保持所需控制性能的能力。分析鲁棒控制系统的状态并综合获得良好鲁棒性的控制系统在实践中非常重要。强大的控制解决了这些问题。本文的目的是提出几种与参数不确定性系统鲁棒控制有关的新颖方法和结果。本文讨论了两个独立的主题。第一个主题是线性系统的概率鲁棒控制分析和综合。在概率鲁棒控制框架中，不确定的工厂参数被表征为具有已知联合概率密度函数的随机变量，并且控制系统的鲁棒性由系统满足所需性能规格的概率来量化。在不确定参数共同为高斯的假设下，我们提出了一种分析方法，以分析近似地估计系统渐近稳定并满足二次性能规格的概率。我们还提出了一种综合方法来最大化这种近似概率。第二个主题是具有参数不确定性的非线性动力系统中不稳定周期轨道的鲁棒镇定。挑战是要在周期轨道的周期和位置都不确定的情况下实现稳定的轨道运动稳定性。我们通过以两种方式扩展线性周期系统的广义采样数据保持函数控制方法来解决此问题。首先，引入自变量的变化，从时间到新的角度变量，使控制逻辑由事件驱动而不是时间驱动。其次，引入一种自适应策略，从而在线估计不确定参数，基于参数估计值计算参考周期轨道，并实施事件驱动控制以稳定参数相关参考周期轨道周围的运动。这种自适应事件驱动策略适用于在质量参数不确定的情况下，对地-太阳系统中不稳定的晕圈轨道的鲁棒稳定。

著录项

  • 作者

    Fukuzawa, Hiroaki.;

  • 作者单位

    University of Michigan.;

  • 授予单位 University of Michigan.;
  • 学科 Engineering Aerospace.
  • 学位 Ph.D.
  • 年度 2005
  • 页码 114 p.
  • 总页数 114
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 航空、航天技术的研究与探索;
  • 关键词

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