Fixed-Structure Methods in Robust Estimation and the Control of Nonlinear and Parameter Varying Systems

这个IIA项目涉及非线性和线性参数变化系统的鲁棒估计和控制中的固定结构方法。诸如卡尔曼滤波器的估计技术在诸如导航、工业过程、电力系统以及故障检测和隔离的应用中具有应用。 然而，标准估计的性能是有限的，由于缺乏鲁棒性建模误差，虽然一些方面的鲁棒估计理论已经发展，混合结构奇异值（MSSV）理论的权力尚未得到应用。因此，在鲁棒估计技术的发展，使用MSSV的研究进行。考虑三个性能标准：H2、Hoo和l1。本研究也考虑非线性系统固定结构控制设计的问题。特别是，自动化技术的输出反馈控制律和李雅普诺夫函数，产生大域的吸引力的平衡点的设计。将固定结构技术应用于线性变参数系统的控制设计。LPV控制理论的发展为非线性系统增益调度控制律的设计提供了一种更为严格和有效的方法。本研究的重点是发展固定结构的方法相应的两个主要方法来控制设计的LPV系统。LPV设计技术适用于休斯机构和低温学正在考虑的指向问题。

This IIA project deals with fixed-structure methods in robust estimation and control of nonlinear and linear parameter varying systems. Estimation techniques such as the Kalman filter have application in applications such as navigation, industrial processes, power systems and fault detection and isolation. However, the performance of standard estimators is limited due to the lack of robustness to modeling errors, and although some aspects of robust estimation theory have been developed, the power of mixed structured singular value (MSSV) theory has not yet been applied. Hence, research in the development of robust estimation techniques using the MSSV is pursued. Three performance criteria are considered:H2, Hoo, and l1. This research also considers issues in fixed-structure control design for nonlinear systems. In particular, automated techniques for the design of output feedback control laws and Lyapunov functions that yield large domains of attraction about an equilibrium point are developed. Fixed-structure techniques are applied to control design for linear parameter varying (LPV) systems. LPV control theory was developed to provide a more rigorous and effective means of designing gain scheduled control laws for nonlinear systems. This research focuses on the development of fixed- structure methodologies corresponding to the two main approaches to control design for LPV systems. The LPV design techniques are applied to pointing problems which are being considered at the Hughes Mechanisms, and Cryogenics.