On-line Learning and Control of Partially-Known and Unknown Nonlinear Systems

虽然线性时不变(LTI)系统的控制已经达到了很高的成熟度，但对非线性系统的控制还很不成熟。最近非线性设计和分析技术的进步，以及快速、低成本计算机和复杂软件工具的广泛使用，为开发成功的非线性系统控制设计提供了强大的潜力。在这项建议中，由首席研究员为一类非线性系统开发的初步控制设计被用来激励一系列研究任务，这些研究任务将导致开发一种控制未知非线性系统的通用方法。所提出的控制设计采用了鲁棒自适应和非线性控制的思想，以及神经和模糊系统的函数逼近结果，以满足现有控制方法无法满足的非线性对象的控制目标。鲁棒自适应控制修改。反推、调谐函数、非线性阻尼和控制李雅普诺夫函数是本文所要考虑的一些设计技术。李雅普诺夫理论、泛函分析和函数近似等分析工具将与计算机仿真相结合来建立和演示所开发的控制方法的性质。所提出的研究的预期结果是开发出一种方法来控制用当前控制方法无法控制的一大类未知或部分已知的非线性对象。

ECS-9877193IoannouWhile the control of linear time invariant (LTI) systems has reached a high level of maturity the control of nonlinear systems is still very much unexplored. Recent advances in nonlinear design and analysis techniques together with the widespread use of fast low cost computers and sophisticated software tools offer a strong potential for the development of successful control designs for nonlinear systems.In this proposal, a preliminary control design developed by the Principal Investigators for a class of nonlinear systems is used to motivate a series of research tasks that will lead to the development of a general methodology for controlling unknown nonlinear systems. The proposed control design employs ideas from robust adaptive and nonlinear control as well as function approximation results from neural and fuzzy systems to meet control objectives for a nonlinear plant that cannot be met by the current control methods. Robust adaptive control modifications. backstepping, tuning functions, nonlinear damping and control Lyapunov functions are some of the design techniques to be considered in the proposed work. Analytical tools such as Lyapunov theory, functional analysis and function approximations will be used together with computer simulations to establish and demonstrate the properties of the developed control methodologies.The expected outcome of the proposed research is the development of a methodology for controlling a wide class of unknown or partially known nonlinear plants that cannot be controlled using the current control methods.