Supervisory Control for Stabilization of a Class of Nonlinear Systems

9625173 McClamroch这项建议描述了一类重要的非线性控制系统的平衡解的稳定化研究计划。虽然监控型或基于逻辑的切换反馈控制器已经在不同的环境中被研究过，但我们的兴趣是当其他平滑反馈镇定方法不可用或不能提供所需性能时，利用它们来实现闭环系统镇定。我们计划使用监督控制来研究一类特殊但重要的非线性控制系统的镇定，包括非完整控制系统和相关的非线性控制系统作为子类。我们的动机源于这样一个事实，即众所周知，使用光滑(时不变)反馈时，非完整控制系统不是渐近可镇定的。提出了基本的研究问题，这些问题的解决将为使用监督控制反馈的非线性镇定和控制提供重要的新见解。拟议的理论研究将与监督反馈控制的应用进行平行研究，主要是针对一类欠驱动机械系统。本文的研究成果将有助于综合经典的非线性控制方法和智能控制方法。***

9625173 McClamroch This proposal describes a plan for research on stabilization of an equilibrium solution of an important class of nonlinear control systems. Although supervisory or logic-based switched feedback controllers have been studied in a variety of contexts, our interest is to exploit them to achieve closed loop stabilization when alternative smooth feedback stabilization approaches are either not available or do not provide the required performance. We plan to study stabilization of a special but important class of nonlinear control systems, that include nonholonomic control systems and related nonlinear control systems as a subclass, using supervisory control. Our motivation arises from the fact that nonholonomic control systems are well known not to be asymptotically stabilizable using smooth (time invariant) feedback. Fundamental research questions are posed whose solution should provide important new insights into nonlinear stabilization and control using supervisory control feedback. The proposed theoretical research will be carried out in connection with a parallel study of applications of supervisory feedback control, primarily to classes of underactuated mechanical systems. The outcomes of the proposed research should contribute to the synthesis of classical nonlinear control methodology and intelligent control methodology. ***