Supervisory Control for Stabilization of a Class of Nonlinear Systems

本文描述了一类重要的非线性控制系统的平衡解的镇定研究方案。尽管在各种情况下已经研究了基于监督或逻辑的开关反馈控制器，但我们的兴趣是在替代平滑反馈稳定方法不可用或不能提供所需性能时利用它们来实现闭环稳定。我们计划研究一类特殊但重要的非线性控制系统，它包括非完整控制系统和相关的非线性控制系统的子类，使用监督控制。我们的动机源于这样一个事实，即众所周知，使用光滑（时不变）反馈，非完整控制系统不能渐近稳定。提出了一些基础研究问题，这些问题的解决方案将为非线性镇定和使用监督控制反馈的控制提供重要的新见解。拟议的理论研究将与监督反馈控制应用的平行研究相结合，主要用于欠驱动机械系统的分类。所提出的研究成果将有助于经典非线性控制方法和智能控制方法的综合。＊＊＊

9625173 McClamroch This proposal describes a plan for research on stabilization of an equilibrium solution of an important class of nonlinear control systems. Although supervisory or logic-based switched feedback controllers have been studied in a variety of contexts, our interest is to exploit them to achieve closed loop stabilization when alternative smooth feedback stabilization approaches are either not available or do not provide the required performance. We plan to study stabilization of a special but important class of nonlinear control systems, that include nonholonomic control systems and related nonlinear control systems as a subclass, using supervisory control. Our motivation arises from the fact that nonholonomic control systems are well known not to be asymptotically stabilizable using smooth (time invariant) feedback. Fundamental research questions are posed whose solution should provide important new insights into nonlinear stabilization and control using supervisory control feedback. The proposed theoretical research will be carried out in connection with a parallel study of applications of supervisory feedback control, primarily to classes of underactuated mechanical systems. The outcomes of the proposed research should contribute to the synthesis of classical nonlinear control methodology and intelligent control methodology. ***