Nonlinear Output Feedback Control: Performance and Robustness

非线性输出反馈控制：性能和鲁棒性

• 批准号: 0114691
• 负责人: Hassan Khalil
• 金额: $ 29.05万
• 依托单位: Michigan State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2001
• 资助国家: 美国
• 起止时间: 2001-08-15 至 2005-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0114691&HistoricalAwards=false
• 关键词: Nonlinear; Output; Feedback; Control; Performance

It is proposed to conduct research on the design of output feedback control of nonlinear systems. The design procedure starts with the design of a state feedback control followed by the design of robust observer to recover performance achieved with a 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.The approach proved useful in achieving fundamental progress in semiglobal stabilization, sliding-mode control, servomechanisms, and adaptive control. While the earlier work has emphasized robustness, the goal of this proposal is to develop a comprehensive theory for the design of high-gain observer-based output feedback controllers for nonlinear systems that aims at achieving both robustness and good performance. The new element we bring in this proposal is the use of nonlinearities as a tool for improving performance.Research tasks include: improved performance of the universal integral regulator, performance issues in high-gain observer-based output feedback controllers, multivariable systems, experimental testbeds, and a pedagogic of the use of nonlinearities as a tool for improving performance.Nonlinear systems under consideration arise in many applications such as mechanical systems, aircraft control, and electric machines. Earlier results have been applied to the control of induction motors and a mechanical system known as the pendubot.

拟对非线性系统的输出反馈控制设计进行研究。 设计过程首先设计状态反馈控制，然后设计鲁棒观测器以恢复通过状态反馈实现的性能。 由于测量噪声和过大的瞬态响应，此类观测器的性能通常会受到困难的阻碍。 主要研究人员表明，可以通过将反馈控制设计为全局有界来消除不期望的瞬态行为。事实证明，该方法有助于在半全局稳定、滑模控制、伺服机构和自适应控制方面取得根本性进展。 虽然早期的工作强调了鲁棒性，但本提案的目标是为非线性系统的基于高增益观测器的输出反馈控制器的设计开发一种综合理论，旨在实现鲁棒性和良好的性能。 我们在该提案中引入的新元素是使用非线性作为提高性能的工具。研究任务包括：提高通用积分调节器的性能、基于高增益观测器的输出反馈控制器的性能问题、多变量系统、实验测试台以及使用非线性作为提高性能的工具的教学法。正在考虑的非线性系统出现在许多应用中，例如机械系统、飞机控制和 电机。 早期的结果已应用于感应电机和称为 pendubot 的机械系统的控制。