RESEARCH INITIATION AWARD: Adaptive Control of Nonlinear Systems: New Design and Analysis Tools

9309402 Kannellakopoulos拟议的研究将集中在非线性设计工具包的开发。 新的Backstepping技术和新的非线性阻尼项将被用来设计自适应系统具有更强的稳定性和性能的属性，通过交错的控制器，观测器和参数估计器的设计。 阻尼隔行扫描的最新突破将产生新一代的自适应系统，其中自适应不需要有界性，但仅用于改善瞬态和渐近性能。 为了提高新的自适应计划的实际问题的适用性，他们的鲁棒性方面的几个来源的建模误差将进行评估，并将开发新的robustification工具。 最后，为了理解与数字实现相关的问题，将讨论离散时间非线性系统的自适应控制问题。 将开发一个离散时间设计工具包，希望这将减轻对短采样间隔的需要。 ***

9309402 Kannellakopoulos The proposed research will focus on the development of the nonlinear design toolkit. Novel Backstepping techniques and new nonlinear damping terms will be employed to design adaptive systems with even stronger stability and performance properties, by interlacing the design of the controller, observer and parameter estimator. The recent breakthrough of damped interlacing will produce a new generation of adaptive systems, in which adaptation is not needed for boundedness, but is used only to improve transient and asymptotic performance. To enhance the applicability of the new adaptive schemes to practical problems, their robustness with respect to several sources of modeling errors will be evaluated, and new robustification tools will be developed. Finally, to understand the issues related to digital implementation, the problem of adaptive control of discrete-time nonlinear systems will be addressed. A discrete-time design toolkit will be developed which will hopefully alleviate the need for short sampling intervals. ***