Nonlinear Output Feedback Control

ECS-9703742哈利勒提出对一类非线性系统的输出反馈控制设计进行研究。要考虑的系统是一类输入输出可线性化系统，它出现在许多应用中，如机器人操作器、飞机控制和电机。设计过程从设计状态反馈控制开始，然后设计鲁棒观测器以恢复状态反馈所达到的性能。由于测量噪声和过大的瞬时响应，这类观测器的性能通常会受到困难的阻碍。主要研究人员已经证明，通过将反馈控制设计为全局有界，可以消除不期望的暂态行为。这一建议旨在为全局有界输出反馈控制器的设计发展一个全面的理论。要研究的问题包括非线性分离原理、自适应控制、多变量系统、在感应电机中的应用以及实现问题。

ECS-9703742 Khalil It is proposed to conduct research on the design of 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 state feedback control followed by the design of a robust observer to recover performance achieved with state feedback. The performance of such observers are usually hindered by difficulties due to measurement noise and excessively large transient response. The principal investigator has shown that 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 nonlinear separation principle, adaptive control, multivariable systems, application to induction motors, and implementation issues.