期刊
NONLINEAR DYNAMICS
卷 101, 期 2, 页码 977-995出版社
SPRINGER
DOI: 10.1007/s11071-020-05800-6
关键词
Mechanical system; Constraint following; Cooperative game; Robust control; Optimal design
资金
- Natural Science Foundation of China [51805263]
- Provincial Natural Science Foundation of Jiangsu [BK20180474]
- Fundamental Research Funds for the Central Universities [309181B8811]
- Nanjing University of Science andTechnology Independent Research Program [30920021105]
- Jiangsu Planned Projects for Postdoctoral Research Funds [2020Z179]
This paper proposes a cooperative game-oriented optimal design problem of robust control for uncertain mechanical systems. State of the concerned system is affected by (possibly fast) time-varying but bounded uncertainty. The task is to drive the system to obey a set of prescribed constraints. A beta-measure is defined to gauge the constraint-following error; based on which, a robust control with two tunable parameters is then proposed to render the system to be uniform boundedness and uniform ultimate boundedness. For the seeking of the optimal design parameters, two cost functions, each of which is dominated by one tunable parameter, are developed, and thereout a two-player cooperative game is formulated. Finally, the optimal design problem is successfully solved: with the existence, uniqueness, and analytical expression of the Pareto-optimality. This paper is the first ever endeavor to cast both constraint following and cooperative game into control framework for uncertain mechanical systems.
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