RIA: Robust Control of Nonlinear Uncertain Dynamical Systemsand Applications

本项目主要研究机械系统的鲁棒控制问题 系统. 由于非线性和 这类系统的不确定性。 鲁棒控制问题 是设计一个固定的，或者说确定的状态的问题 反馈控制，以稳定具有重要意义的动态系统 在满足设计要求的前提下， 的 鲁棒性的李雅普诺夫方法，目前流行的几种方法之一 方法，将在该项目中使用。 现有缺陷 与方法相关的包括（1）控制使 系统只有一致最终有界而非渐近 稳定，（2）控制只适用于满足 所谓的“匹配条件”，（3）通常需要 对系统的允许大小做出假设 不确定性 该项目的目标是克服 这些缺点。 该研究旨在使强大的 控制非线性系统的一个实用工具。

This project focuses on the topic of robust control of mechanical systems. Robustness is required because of the nonlinear and uncertain character of such systems. The robust control problem is the problem of designing a fixed, or deterministic state feedback control to stabilize a dynamical system with significant bounded uncertainties while meeting the design requirements. The Lyapunov approach to robustness, one of several currently popular approaches, will be used in this project. Current shortcomings associated with the approach include (1) the control makes the system only uniformly ultimately bounded and not asymptotically stable, (2) the control only applies to systems which satisfy the so called 'matching condition', and (3) it is usually necessary to make assumptions about the allowable size of the system uncertainties. The objectives of this project are to overcome these shortcomings. The research is aimed at making robust control of nonlinear systems a practical tool.