Career: Nonlinear Control: New Problems for Robust and Adaptive Design

该提案的研究目标是开发新的控制设计，利用而不是抵消工程系统的非线性特征。首席研究员之前的研究包括解决自适应非线性控制中几个长期存在的设计问题，并撰写了关于不确定非线性系统控制的新专著。这些设计在许多应用领域越来越受欢迎，并包含在商业上可用的控制设计软件中。该方案解决了具有严重非线性和高度不确定模型的系统的鲁棒和自适应控制的新问题。(A)将开发新的设计，以避免消除有用的非线性。这是一个主要的理论和实际问题，PI最近能够解决应用于喷气发动机的稳定。该问题的一般解决方案可能会对汽车系统、飞行控制、电动机、电力系统、制造业等许多应用领域产生技术影响。没有抵消的设计将有助于解决具有实际重要性的鲁棒非线性控制问题：有限的控制功率，对噪声和未建模动力学的敏感性，以及分岔平衡的稳定化。(B)将发展设计方法来解决“寻峰”问题-对不确定非线性函数的峰值进行调节。这类问题发生在许多固有的非线性应用中，其中在峰值处获得最大效率，但不确定性使设计者无法先验地选择设定点。(C)现有的自适应非线性控制方法将被重新设计，以允许非参数不确定性并改善未建模动态下的性能。PI最近发现自适应控制器可以收敛到不稳定控制器（同时保证全局调节），这推进了对自适应系统的基本几何理解，并将指导他未来的稳健重新设计。该提案的目标是由应用问题驱动的，并将为未来与联合技术公司、福特汽车公司和罗克韦尔国际公司的合作项目提供理论基础。教育计划的重点是在PI最近的书的基础上开发一个新的研究生课程非线性控制设计。我们将努力将与工程相关的非线性控制结果引入研究生控制课程。将特别强调使非线性控制吸引更广泛的控制学生，特别是对应用感兴趣的学生，以便提高未来工业领导者对控制的欣赏。本科教学计划是我校本科课程重大创新改革的一部分。工业环境的变化比学术环境的变化快得多，因此，该计划要求本科控制教育，教授一套具有持久价值的持久技能。提出了计算机动画作为本科控制教学的重要工具。＊＊＊

9624386 Krstic The research objective of the proposal is to develop new control designs which exploit, rather than counteract, nonlinear features of engineering systems. The Principal Investigator's previous research includes solutions to several long-standing design problems in adaptive nonlinear control and a new monograph on control of uncertain nonlinear systems. These designs are gaining popularity in a number of application areas, and are included in commercially available control design software. This proposal addresses new problems of robust and adaptive control for systems with severe nonlinearities and highly uncertain models. (A) New designs will be developed which avoid cancellation of useful nonlinearities. This is a major theoretical and practical problem which the PI was recently able to solve for application to jet engine stabilization. A general solution to this problem is likely to have a technological impact in application areas such as automotive systems, flight control, electric motors, power systems, manufacturing, and many others. Designs without cancellation will contribute to solving robust nonlinear control problems of practical importance: limited control power, sensitivity to noise and unmodeled dynamics, and stabilization of bifurcated equilibria. (B) Design methods will be developed to solve the problem of "peak seeking"-regulation to peaks of uncertain nonlinear functions. Such problems occur in many inherently nonlinear applications where maximum efficiency is achieved at the peak but the uncertainty prevents the designer from choosing the set point a priori. (C) Existing methods of adaptive nonlinear control will be redesigned to allow nonparametric uncertainties and improve performances under unmodeled dynamics. The PI's recent finding that adaptive controllers can converge to destabilizing controllers (while guaranteeing global regulation) advances the fundamental geometric understanding of adaptive systems and will guide his future robust redesigns. The objectives of the proposal are motivated by application problems, and will provide a theoretical base for future collaborative projects with United Technologies, Ford Motor Company, and Rockwell International. The focus of the education plan is on developing a new graduate course Nonlinear Control Design based on the PI's recent book. An effort will be made to introduce nonlinear control results of engineering relevance into the graduate control curriculum. A particular emphasis will be put on making nonlinear control attractive to a broader spectrum of control students, especially those with interest in applications, so as to enhance appreciation of control among future industrial leaders. The undergraduate teaching plan is a part of a major innovative reform of the undergraduate curriculum at UMCP. The dynamics of the industrial environment are much faster than those of the academic environment, consequently, the plan calls for undergraduate control education which teaches a lasting set of skills with enduring value. Computer animation is proposed as an important tool for teaching undergraduate control. ***