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，但大多数现有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。对于满足控制目标至关重要的暂态响应的形成，几乎没有分析方法可用。智能优点：性能恢复工具将被开发来恢复在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允许我们用输出反馈恢复通过状态反馈可以实现的瞬时响应。有条件的伺服补偿器使我们能够用伺服补偿器恢复在没有伺服动作的情况下可以实现的瞬时性能，但具有伺服动作的稳态精度。扩展的高增益观测器作为扰动估计器，使我们能够在存在扰动的情况下恢复已知非线性模型所能达到的暂态性能。这项拟议的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，并通过电气驱动和智能材料驱动系统的实验试验台来演示工具的有效性。更广泛的影响：该研究将通过将博士、硕士和本科生纳入研究活动，并通过编写教科书将研究整合到控制教育中，来促进教学、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.