Nonlinear Output Feedback Control

非线性输出反馈控制

• 批准号: 9402187
• 负责人: Hassan Khalil
• 金额: $ 18万
• 依托单位: Michigan State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1994
• 资助国家: 美国
• 起止时间: 1994-09-15 至 1998-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9402187&HistoricalAwards=false
• 关键词: Nonlinear; Output; Feedback; Control

9402187 Khalil 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 robotics 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 show 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 of the effect of measurement noise. ***

9402187哈利勒提出对一类非线性系统的鲁棒输出反馈控制设计进行研究。要考虑的系统是一类输入输出可线性化系统，它出现在许多应用中，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状态反馈所获得的鲁棒性。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。主要研究者的最新结果表明，对于完全线性化系统的特殊情况，可以通过设计反馈控制全局有界来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、干扰抑制、伺服机构、鲁棒性、各种状态估计方案的比较以及测量噪声的影响研究。***