Adaptive and Robust Nonlinear Control

反馈控制理论的理想目标，"以 采用不完美的模型，设计完美 系统，"关键取决于表征 模型的缺陷和设计 方法论 如果不确定的非线性可以 其特征在于非线性约束或 参数化，其中自适应设计是 可用，那么，正如我们的一些结果显示， 设计的系统可能是“完美的”， 在全局上实现了理想的跟踪性能。 在这项研究中，我们介绍了结构和 模型不确定性的参数表征 并利用它们来开发适应性强、 非线性反馈设计， 系统性能的不确定性。 我们计划 使用调整功能来开发新的自适应 最小输出反馈格式 参数化和降低复杂性。 我们的新 部分状态反馈方案将利用结构 评估其他因素之间权衡的信息 测量和稳定性增强。 我们将 分析鲁棒性不仅涉及 未建模动态和约束扰动，但 还涉及未建模的非线性。 的 死区和滞后特性是 应用型企业代表 不确定的非线性问题， 本研究的第二部分。

The ideal goal of feedback control theory, "to employ imperfect models and design perfect systems," critically depends on the characterizations of model imperfections and on the design methodology. If the uncertain nonlinearities can be characterized by a nonlinear bound or by a parametrization for which an adaptive design is a available, then, as some of our results show, the designed system may be "perfect" in the sense that the ideal tracking performance is achieved globally. In this research we introduce structural and parametric characterizations of model uncertainties and use them to develop adaptive and robust nonlinear feedback designs which reduce the effects of uncertainties on system performance. We plan to employ tuning functions to develop new adaptive output-feedback schemes with minimal parametrizations and reduced complexity. Our new partial-state-feedback schemes will exploit structural information to assess tradeoffs between additional measurements and stability augmentation. We will analyze robustness not only with respect to unmodeled dynamics and bound disturbance, but also with respect to unmodeled nonlinearities. The dead-zone and hysteresis characteristics are the representatives of the applications-motivated uncertain nonlinearities to be addressed in the second part of this research.