Career: Nonlinear Control: New Problems for Robust and Adaptive Design

小行星9624386 该提案的研究目标是开发新的控制设计，利用，而不是抵消，工程系统的非线性特征。 主要研究者以前的研究包括解决自适应非线性控制中几个长期存在的设计问题和一本关于不确定非线性系统控制的新专著。 这些设计在许多应用领域中越来越受欢迎，并且包括在商业上可获得的控制设计软件中。 该方案解决了具有严重非线性和高度不确定模型的系统的鲁棒自适应控制问题。(A)将开发新的设计，以避免抵消有用的非线性。 这是一个主要的理论和实践问题，PI最近能够解决应用于喷气发动机稳定。 这个问题的通用解决方案可能会在汽车系统、飞行控制、电动机、电力系统、制造业等应用领域产生技术影响。 没有取消的设计将有助于解决具有实际意义的鲁棒非线性控制问题：有限的控制功率，对噪声和未建模动态的敏感性，以及分叉平衡的稳定性。(B)设计方法将发展到解决“寻峰”的问题-调整不确定的非线性函数的峰值。这样的问题发生在许多固有的非线性应用中，其中在峰值处实现最大效率，但是不确定性阻止设计者先验地选择设定点。 (C)现有的自适应非线性控制方法将被重新设计，以允许非参数不确定性，并改善未建模动态下的性能。 PI最近发现自适应控制器可以收敛到不稳定控制器（同时保证全局调节），这一发现推进了自适应系统的基本几何理解，并将指导他未来的鲁棒重新设计。 本计画的目标是以应用问题为动机，并将为未来与联合技术、福特汽车公司及罗克韦尔国际公司的合作计画提供理论基础。 教育计划的重点是开发一个新的研究生课程非线性控制设计的基础上PI的最新著作。 将努力把工程相关的非线性控制结果引入研究生控制课程。 一个特别的重点将放在使非线性控制吸引更广泛的控制学生，特别是那些有兴趣的应用程序，以提高未来的工业领导者之间的控制赞赏。 本科教学计划是我校本科课程体系重大创新改革的一部分。 工业环境的动态比学术环境的动态快得多，因此，该计划要求本科控制教育，教授一套具有持久价值的技能。 计算机动画是控制类本科教学的重要手段。 ***

9624386 Krstic The research objective of the proposal is to develop new control designs which exploit, rather than counteract, nonlinear features of engineering systems. The Principal Investigator's previous research includes solutions to several long-standing design problems in adaptive nonlinear control and a new monograph on control of uncertain nonlinear systems. These designs are gaining popularity in a number of application areas, and are included in commercially available control design software. This proposal addresses new problems of robust and adaptive control for systems with severe nonlinearities and highly uncertain models. (A) New designs will be developed which avoid cancellation of useful nonlinearities. This is a major theoretical and practical problem which the PI was recently able to solve for application to jet engine stabilization. A general solution to this problem is likely to have a technological impact in application areas such as automotive systems, flight control, electric motors, power systems, manufacturing, and many others. Designs without cancellation will contribute to solving robust nonlinear control problems of practical importance: limited control power, sensitivity to noise and unmodeled dynamics, and stabilization of bifurcated equilibria. (B) Design methods will be developed to solve the problem of "peak seeking"-regulation to peaks of uncertain nonlinear functions. Such problems occur in many inherently nonlinear applications where maximum efficiency is achieved at the peak but the uncertainty prevents the designer from choosing the set point a priori. (C) Existing methods of adaptive nonlinear control will be redesigned to allow nonparametric uncertainties and improve performances under unmodeled dynamics. The PI's recent finding that adaptive controllers can converge to destabilizing controllers (while guaranteeing global regulation) advances the fundamental geometric understanding of adaptive systems and will guide his future robust redesigns. The objectives of the proposal are motivated by application problems, and will provide a theoretical base for future collaborative projects with United Technologies, Ford Motor Company, and Rockwell International. The focus of the education plan is on developing a new graduate course Nonlinear Control Design based on the PI's recent book. An effort will be made to introduce nonlinear control results of engineering relevance into the graduate control curriculum. A particular emphasis will be put on making nonlinear control attractive to a broader spectrum of control students, especially those with interest in applications, so as to enhance appreciation of control among future industrial leaders. The undergraduate teaching plan is a part of a major innovative reform of the undergraduate curriculum at UMCP. The dynamics of the industrial environment are much faster than those of the academic environment, consequently, the plan calls for undergraduate control education which teaches a lasting set of skills with enduring value. Computer animation is proposed as an important tool for teaching undergraduate control. ***