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（稳定性或调节性）和鲁棒性上。很少有分析方法可用于形成瞬态响应，这是必不可少的满足控制objectives.Intellectual优点：性能恢复工具将开发恢复非线性控制中可实现的瞬态性能。有界控制的高增益观测器使我们能够用输出反馈恢复用状态反馈实现的瞬态响应。有条件的伺服补偿器允许我们恢复与伺服补偿器的瞬态性能可实现没有伺服行动，但与伺服行动的稳态精度。扩展的高增益观测器，作为干扰估计器，使我们能够在干扰的存在下恢复已知的非线性模型实现的瞬态性能。拟议的工作将开发设计工具，推导支持方法的理论，提供调整设计参数的规则，并通过电驱动和智能材料驱动系统的实验测试台来证明工具的有效性。更广泛的影响：这项研究将促进教学，培训和学习，包括博士，医学硕士，和大学生参与科研活动，并通过教材编写将科研融入控制教育。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.