Nonlinear Output Feedback Control

ECS-9703742 Khalil研究一类非线性系统的输出反馈控制设计问题。 要考虑的系统类是一类输入输出线性化系统，出现在许多应用中，如机器人机械手，飞机控制，和电机。 设计过程首先设计一个状态反馈控制，然后设计一个鲁棒的观测器，以恢复与状态反馈实现的性能。 此类观测器的性能通常会因测量噪声和过大的瞬态响应而受到困难的阻碍。 主要研究者已经表明，通过将反馈控制设计为全局有界，可以消除不期望的瞬态行为。 该建议旨在为全局有界输出反馈控制器的设计提供一个全面的理论。 要研究的问题包括非线性分离原理，自适应控制，多变量系统，应用到感应电动机，和实施问题。

ECS-9703742 Khalil It is proposed to conduct research on the design of 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 robotic manipulators, aircraft control, and electric machines. The design procedure starts with the design of a state feedback control followed by the design of a robust observer to recover performance achieved with state feedback. The performance of such observers are usually hindered by difficulties due to measurement noise and excessively large transient response. The principal investigator has shown that 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 nonlinear separation principle, adaptive control, multivariable systems, application to induction motors, and implementation issues.