基于非线性补偿的重复控制系统及鲁棒性设计

项目名称： 基于非线性补偿的重复控制系统及鲁棒性设计

项目编号： No.61473313

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 自动化技术、计算机技术

项目作者： 佘锦华

作者单位： 中国地质大学（武汉）

项目金额： 81万元

中文摘要： 针对一类具有周期控制任务的非线性系统，本项目研究一种基于非线性补偿的重复控制系统设计方法。通过分析非线性特性对重复控制系统性能的影响，建立非线性重复控制系统的模型描述；探讨非线性补偿的可行性条件和方法，研究非线性特性估计器和补偿器的设计方法；建立基于非线性估计器、补偿器、重复控制器和反馈控制器的系统结构模型，寻找重复控制器、反馈控制器参数与系统稳定性和控制性能之间的关系，提出重复控制器和反馈控制器的设计方法；研究不确定性条件下基于非线性补偿的鲁棒重复控制系统结构，以及满足系统鲁棒稳定性和鲁棒性能的条件，讨论非线性估计器和补偿器与重复控制器和反馈控制器的设计条件，提出系统的参数整定方法；通过计算机仿真和机电控制系统实验，探讨基于非线性补偿的重复控制应用。本项目的研究将为非线性重复控制系统设计提供一种新颖的和有效的方法，促进重复控制和非线性控制理论与应用的发展，具有重要的科学意义和应用价值。

中文关键词： 重复控制系统；非线性补偿；不确定系统；鲁棒稳定性；鲁棒性能

英文摘要： This project will investigate the problem of how to design a repetitive control system that compensates for nonlinearities for a class of nonlinear systems that perform periodic control tasks. For a nominal plant with nonlinearities, a model of a nonlinear repetitive control system will first be established based on an exploration of the characteristics of nonlinearities and their influence on system performance. Next, a feasible condition for the compensation of nonlinearities will be derived. And a method of designing an estimator and a compensator for the nonlinearities will be developed. Then, a new structure for a repetitive control system will be created. It will contain the new estimator and compensator, a repetitive controller, and a feedback controller. A method of designing the repetitive controller and the feedback controller based on the relationships among the parameters of the control system, and its stability and control performance will be established. For a certain class of nonlinear plants with uncertainties, a structure for a robust repetitive control system that compensates for the nonlinearities will be created; and the conditions for robust stability and robust performance will be investigated. Then, the design problem will be considered; and conditions for the parameters of the estimator and the compensator, and for the parameters of the repetitive controller and the feedback controller, will be established. A method of tuning those parameters will also be devised. Finally, the validity of the method will be demonstrated through simulations and experiments on a mechatronic control system. The objective of this project is to develop a new and effective design method for nonlinear repetitive control systems. This project will have significant theoretical and practical results. Moreover, it will spur advances in the fields of repetitive control and nonlinear control.

英文关键词： repetitive control system;nonlinearity compensation;uncertain systems;robust stability;robust performance