CAREER: Robust Design of Adaptive Nonlinear Control

由于大多数物理系统包含非线性和未知参数，非线性系统的自适应控制与实际应用直接相关。 首席研究员之前的研究产生了几个新的系统设计程序，这些程序在大的操作区域内提供高性能，而不增加控制工作量，也不需要全状态测量。 拟议的研究计划将继续发展新一代的自适应系统，其中的非自适应部分的控制器是能够保证有界性，而适应只用于改善瞬态渐近性能。 额外的设计工具将开发，不仅导致更强的稳定性和性能特性，但也适用于更大类的非线性系统，并通过几何条件来表征这些类。 新工具将应用于对商业应用具有重要意义的问题，如感应电机、重型车辆在智能公路上的自动化操作和半导体制造过程，并将与感兴趣的工业赞助商开展合作研究。 拟议的教育计划将开发几个新的本科生和研究生课程的线性，非线性和自适应控制，以及本科实验室控制课程。 此外，透过及早引入非线性的例子和概念，提高控制系统的教学效果，以激发学生的兴趣，并确保他们了解线性控制理论对大多数物理系统只能产生局部结果。 此外，教育计划包括图形和符号软件到本科生和研究生控制课程，使学生可以花更少的时间推导出复杂的表达式和编码到一个模拟包，更多的时间探索设计方案，比较不同的方法，并观看他们的努力的结果来通过动画和视觉模拟活着。 ***

9502945 Kanellakopoulos Since most physical systems contain nonlinearities and unknown parameters, adaptive control of nonlinear systems is directly relevant to practical applications. The Principal Investigator's previous research resulted in several new systematic design procedures which deliver high performance over large operating regions without an increase in control effort and without requiring full-state measurements. The proposed research plan will continue the development of a new generation of adaptive systems, in which the nonadaptive part of the controller is capable of guaranteeing boundedness, while adaption is used only for the improvement of transient an asymptotic performance. Additional design tools will be developed that not only result in even stronger stability and performance properties, but are also applicable to larger classes of nonlinear systems, and characterize those classes via geometric conditions. The new tools will be applied to problems which are of importance to commercial applications such as induction motors, the automated operation of heavy-duty vehicles on intelligent highways and semiconductor manufacturing processes, and will develop cooperative research efforts with interested industrial sponsors. The proposed education plan will develop several new undergraduate and graduate courses on linear, nonlinear and adaptive control, as well as an undergraduate laboratory control course. Furthermore, it will enhance the teaching effectiveness of control systems through the early introduction on nonlinear examples and concepts in order to stimulate student interest and ensure their understanding of the fact that linear control theory can only yield regional results for most physical systems. In addition, the education plan includes graphical and symbolic software into the undergraduate and graduate control curriculum, so that students can spend less time deriving complicated expressions and coding them into a simulatio n package, and more time exploring design options, comparing different approaches, and watching the results of their efforts come alive through animation and visual simulation. ***