Nonlinear Output Feedback Control: Performance and Robustness

提出对非线性系统的输出反馈控制设计进行研究。设计过程从状态反馈控制的设计开始，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态响应，这种观测器的性能通常受到阻碍。研究表明，通过将反馈控制设计为全局有界，可以消除不良的瞬态行为。该方法在半全局稳定、滑模控制、伺服机构和自适应控制等方面取得了重要进展。虽然早期的工作强调鲁棒性，但本提案的目标是为非线性系统的高增益观测器输出反馈控制器的设计开发一个全面的理论，旨在实现鲁棒性和良好的性能。我们在这个建议中引入的新元素是使用非线性作为提高性能的工具。研究任务包括：改进通用积分调节器的性能，高增益观测器输出反馈控制器的性能问题，多变量系统，实验测试平台，以及使用非线性作为提高性能的工具的教学方法。考虑的非线性系统出现在许多应用中，如机械系统，飞机控制和电机。早期的研究结果已经应用于感应电机的控制和一种被称为悬浮机器人的机械系统。

It is proposed to conduct research on the design of output feedback control of nonlinear systems. The design procedure starts with the design of a state feedback control followed by the design of robust observer to recover performance achieved with a 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.The approach proved useful in achieving fundamental progress in semiglobal stabilization, sliding-mode control, servomechanisms, and adaptive control. While the earlier work has emphasized robustness, the goal of this proposal is to develop a comprehensive theory for the design of high-gain observer-based output feedback controllers for nonlinear systems that aims at achieving both robustness and good performance. The new element we bring in this proposal is the use of nonlinearities as a tool for improving performance.Research tasks include: improved performance of the universal integral regulator, performance issues in high-gain observer-based output feedback controllers, multivariable systems, experimental testbeds, and a pedagogic of the use of nonlinearities as a tool for improving performance.Nonlinear systems under consideration arise in many applications such as mechanical systems, aircraft control, and electric machines. Earlier results have been applied to the control of induction motors and a mechanical system known as the pendubot.