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Output Feedback Control for Uncertain Variable Structure Systems with Resets

带复位的不确定变结构系统的输出反馈控制

基本信息

批准号：
EP/G053979/1
负责人：
Sarah Spurgeon
金额：
$ 26.02万
依托单位：
University of Kent
依托单位国家：
英国
项目类别：
Research Grant
财政年份：
2009
资助国家：
英国
起止时间：
2009 至无数据
项目状态：
已结题

来源：
https://gtr.ukri.org/projects?ref=EP%2FG053979%2F1
关键词：
Output Feedback Control Uncertain Variable

项目摘要

Discontinuous systems are studied in very different research fields such as economics, electrical circuit theory, mechanical engineering (impact theory, plasticity theory), biosciences, systems and control theory. Such systems are typically viewed as a simple model of hybrid systems, consisting of a finite family of subsystems, equipped with rules determining how to switch between them. The literature on robust control of complex nonlinear systems with set-valued equilibrium such as discontinuous systems using output information is very sparse. This project seeks to extend a framework that has been developed for output feedback control of continuous systems to robust control of complex discontinuous systems using only measured output information. The practical need for such a framework has been demonstrated by recent applications to biped robots, for example, from Chevallereau et al. (2003) and Westervelt et al. (2007) and is also supported by the needs of industry where tighter controls on efficiency are producing increasing levels of monitoring. Incorporating this information in the control loop is a natural next step and discontinuous systems often result. Theoretical developments will be facilitated by interaction between the proposed Visiting Researcher, Professor Orlov, who is a recognised expert on stability analysis and robust control synthesis of uncertain discontinuous systems within the framework of methods of nonsmooth Lyapunov functions and the PI, who is recognised for her work on robust sliding mode control and observation. The applied research will focus on the production of significant implementation studies relating to control of impact mechanical systems and the control of industrial production processes to demonstrate the efficacy of the underlying philosophy and the new design algorithms. These are pertinent design studies to inform the development of the theoretical research programme as well as being used to illustrate the research outcomes.

不连续系统在不同的研究领域进行研究，如经济学、电路理论、机械工程（冲击理论、塑性理论）、生物科学、系统和控制理论。这样的系统通常被视为混合系统的简单模型，由有限的子系统组成，并配备了决定如何在它们之间切换的规则。利用输出信息对具有集值平衡的复杂非线性系统（如不连续系统）进行鲁棒控制的文献非常稀疏。该项目旨在将已开发的用于连续系统输出反馈控制的框架扩展到仅使用测量输出信息的复杂不连续系统的鲁棒控制。对这样一个框架的实际需求已经被最近的双足机器人应用所证明，例如，从Chevallereau等人（2003年）和Westervelt等人（2007年），也得到了工业需求的支持，在工业中，对效率的严格控制正在产生越来越高的监控水平。在控制回路中加入这些信息是很自然的下一步，不连续的系统经常会产生。Orlov教授是在非光滑Lyapunov函数和PI方法框架内的不确定不连续系统的稳定性分析和鲁棒控制综合方面公认的专家，她因其在鲁棒滑模控制和观察方面的工作而得到认可。应用研究将集中在与冲击机械系统控制和工业生产过程控制有关的重要实施研究的生产上，以证明基本哲学和新设计算法的功效。这些是相关的设计研究，为理论研究计划的发展提供信息，并用于说明研究成果。