Nonlinear Output Feedback Control

提出了对一类非线性系统进行鲁棒输出反馈控制设计的研究。要考虑的系统类是输入输出可线性化系统类，它们出现在许多应用中，例如机器人操作器、飞机控制和电机。设计过程从设计鲁棒状态反馈控制开始，然后设计鲁棒观测器以恢复鲁棒性通过状态反馈实现。由于测量噪声和过大的瞬时响应，这类观测器的性能通常会受到困难的阻碍。首席研究员最近的一个结果表明，对于完全线性化系统的特殊情况，通过将反馈控制设计为全局有界，可以消除不期望的暂态行为。这一建议旨在为全局有界输出反馈控制器的设计发展一个全面的理论。要研究的问题包括跟踪、抗扰伺服机构、鲁棒性、各种状态估计方案的比较、并对测量噪声的影响进行了研究。

It is proposed to conduct research on the design of robust output feedback control of a class of nonlinear systems. The class of systems to be considered is the class of input-output linearizable systems, which arise in many applications such as robotic manipulators, aircraft control, and electric machines. The design procedure starts with the design of a robust state feedback control followed by the design of a robust observer to recover robustness achieved with state feedback. The performance of such observers are usually hindered by difficulties due to measurement noise and excessively large transient response. A recent result by the principal investigator has shown that, for the special case of fully linearizable systems, the undesirable transient behavior can be eliminated by designing the feedback control to be globally bounded. This proposal aims at developing a comprehensive theory for the design of globally bounded output feedback controllers. Problems to be investigated include tracking, disturbance rejection servomechanisms, robustness, comparison of various state estimation schemes, and study the effect of measurement noise.