Nonlinear Output Feedback Control

建议进行研究 鲁棒输出设计 反馈控制 非线性系统 的类 要考虑的系统是 输入输出可线性化类 系统，其中出现在许多 例如机器人应用 机械手，飞机控制， 电动机器 设计 程序从设计开始， 鲁棒状态反馈控制 其次是设计一个强大的 观测器恢复鲁棒性 实现状态反馈。 的 这些观察员的表现是 通常由于困难而受阻， 测量噪声和过度 瞬态响应大。 最近的一 主要研究者的结果 已经表明，对于特殊情况， 对于完全线性化的系统， 不希望的瞬态行为可以 通过设计 反馈控制是全局性的 有界 这项建议旨在 发展一个全面的理论 对于全局有界的 输出反馈控制器 需要调查的问题包括 跟踪，干扰抑制 伺服机构，坚固耐用， 各国比较 估计方案，并研究 测量噪声的影响。

It is proposed to conduct research on the design of robust output feedback control of a class of nonlinear systems. The class of systems to be considered is the class of input-output linearizable systems, which arise in many applications such as robotic manipulators, aircraft control, and electric machines. The design procedure starts with the design of a robust state feedback control followed by the design of a robust observer to recover robustness achieved with state feedback. The performance of such observers are usually hindered by difficulties due to measurement noise and excessively large transient response. A recent result by the principal investigator has shown that, for the special case of fully linearizable systems, the undesirable transient behavior can be eliminated by designing the feedback control to be globally bounded. This proposal aims at developing a comprehensive theory for the design of globally bounded output feedback controllers. Problems to be investigated include tracking, disturbance rejection servomechanisms, robustness, comparison of various state estimation schemes, and study the effect of measurement noise.