Supervisory Control for Stabilization of a Class of Nonlinear Systems

一类非线性系统稳定的监督控制

• 批准号: 9625173
• 负责人: Nathaniel McClamroch
• 金额: $ 18.5万
• 依托单位: Regents of the University of Michigan - Ann Arbor
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1996
• 资助国家: 美国
• 起止时间: 1996-09-01 至 2000-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9625173&HistoricalAwards=false
• 关键词: Supervisory; Control; Stabilization; Class; Nonlinear

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. ***

小行星9625173 这一建议描述了一类重要的非线性控制系统的平衡解的稳定性的研究计划。 虽然监督或基于逻辑的切换反馈控制器已在各种情况下进行了研究，我们的兴趣是利用它们来实现闭环稳定时，替代平滑反馈稳定的方法是不可用或不提供所需的性能。 我们计划研究一类特殊但重要的非线性控制系统的镇定问题，其中包括非完整控制系统和相关的非线性控制系统作为一个子类，使用监督控制。 我们的动机来自于这样一个事实，即非完整控制系统 众所周知，使用平滑（时不变）反馈不能渐近稳定。基础研究的问题，其解决方案应提供重要的新的见解，非线性稳定和控制，使用监督控制反馈。建议的理论研究将进行与监督反馈控制的应用程序，主要是欠驱动机械系统类的平行研究。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。 ***