Adaptive Robust Control–Theory and Application to Precision and Energy Saving Control of Electro-Hydraulic Systems外文电子书.pdf
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NSF GRANT # 0600516
NSF PROGRAM NAME: Dr. Suhada Jayasuriya
Adaptive Robust Control – Theory and Application to Precision and Energy
Saving Control of Electro-Hydraulic Systems
Bin Yao
School of Mechanical Engineering
Purdue University
West Lafayette, IN 47907-1288
Abstract: The salient features of the proposed adaptive uncertainties may come from either (i) parameters of
robust control (ARC) lie in the seamless integration of the system model which may depend on operating
(i) appropriate nonlinear robust feedback controls that conditions and may not be precisely known in advance
are physically realizable while having targeted local (e.g., inertia of an object grasped by a robot), or (ii)
high-gain feedback so that the effect of various model nonlinearities which cannot be modeled exactly (e.g.,
uncertainties can be sufficiently attenuated to guarantee nonlinear friction characteristics) or terms which
certain consistent robust control performance and (ii) change with time randomly (e.g., external
controlled learning to reduce model uncertainties to disturbances); the former is referred to as parametric
maximize the achievable control performance and uncertainties and the latter
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