Nonlinear Output Feedback Control: Performance and Robustness

尽管非线性控制理论取得了一些显著的进展，但大多数可用的设计方法都集中在渐近行为（稳定性或调节）和鲁棒性上。很少有分析方法可用于形成瞬态响应，这是满足控制目标所必需的。智力优势：性能恢复工具将被开发用于恢复非线性控制中可实现的暂态性能。具有有界控制的高增益观测器使我们能够用输出反馈恢复状态反馈所能达到的瞬态响应。条件伺服补偿器允许我们用伺服补偿器来恢复没有伺服作用所能达到的瞬态性能，但具有伺服作用的稳态精度。扩展的高增益观测器作为干扰估计器，使我们能够在存在干扰的情况下恢复已知非线性模型所能达到的瞬态性能。该工作将开发设计工具，推导支持该方法的理论，提供调整设计参数的规则，并通过电力驱动和智能材料驱动系统的实验试验台证明工具的有效性。更广泛的影响：通过将博士、硕士和本科生纳入研究活动，并通过编写教科书将研究纳入控制教育，将促进教学、培训和学习。它将扩大代表性不足群体的参与。

ECCS-0725165KhalilDespite some remarkable progress in nonlinear control theory, most of the available design methods focus on the asymptotic behavior (stability or regulation) and robustness. Very little analytical methods are available for shaping the transient response, which is essential for meeting control objectives.Intellectual Merit: Performance-recovery tools will be developed to recover the transient performance achievable in nonlinear control. High-gain observers with bounded control allow us to recover with output feedback the transient response achievable with state feedback. Conditional servo -compensators allow us to recover with servo-compensators the transient performance achievable without servo action, but with the steady-state accuracy of servo action. Extended high-gain observers, acting as disturbance estimators, allow us to recover in the presence of disturbance the transient performance achievable with known nonlinear models. The proposed work will develop the design tools, derive the theory that backs up the methodology, provide rules for tuning the design parameters, and demonstrate the effectiveness of the tools through experimental test-beds in electric drives and smart material-actuated systems. Broader Impacts: The research will promote teaching, training and learning by including Ph.D., M.S., and undergraduate students in the research activities, and by integrating research into control education through textbook writing. It will broaden participation of underrepresented groups.