Nonlinear Output Feedback Control

提出对一类非线性系统的鲁棒输出反馈控制设计进行研究。要考虑的一类系统是一类输入输出线性化系统，它出现在许多应用中，如机器人操纵器，飞机控制和电机。设计过程首先设计一个鲁棒状态反馈控制器，然后设计一个鲁棒观测器来恢复状态反馈所达到的鲁棒性。由于测量噪声和过大的瞬态响应，这种观测器的性能通常受到阻碍。最近的研究结果表明，对于完全线性化系统的特殊情况，可以通过将反馈控制设计为全局有界来消除不良的瞬态行为。这一建议旨在发展一个全面的理论，为全局有界输出反馈控制器的设计。要研究的问题包括跟踪、干扰抑制、伺服机制、鲁棒性、各种状态估计方案的比较以及测量噪声影响的研究。＊＊＊

9402187 Khalil 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 robotics 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 show 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 of the effect of measurement noise. ***