Output Feedback Control for Uncertain Variable Structure Systems with Resets

不连续系统的研究涉及经济学、电路理论、机械工程(冲击理论、塑性理论)、生物科学、系统和控制理论等多个领域。这类系统通常被视为混合系统的简单模型，由一个有限的子系统家族组成，配备了决定如何在它们之间切换的规则。利用输出信息对具有集值平衡的复杂非线性系统(如不连续系统)进行鲁棒控制的文献非常稀少。该项目旨在将已开发的用于连续系统的输出反馈控制的框架扩展到仅使用测量的输出信息的复杂不连续系统的鲁棒控制。最近对两足机器人的应用证明了对这样一个框架的实际需要，例如，Chevallereau等人的应用。(2003)和Westvelt等人。(2007)，而且还得到了行业需求的支持，在这些行业，对效率的更严格控制正在产生越来越多的监测水平。将这些信息合并到控制回路中是很自然的下一步，通常会导致系统不连续。建议的访问研究员Orlov教授是在非光滑Lyapunov函数方法框架内的不确定不连续系统的稳定性分析和鲁棒控制综合方面的公认专家，与PI之间的互动将促进理论的发展，PI因其在鲁棒滑模控制和观测方面的工作而受到认可。应用研究将侧重于编制与冲击机械系统控制和工业生产过程控制有关的重要实施研究，以证明基本理念和新设计算法的有效性。这些是有针对性的设计研究，为理论研究方案的发展提供信息，并用于说明研究结果。

Discontinuous systems are studied in very different research fields such as economics, electrical circuit theory, mechanical engineering (impact theory, plasticity theory), biosciences, systems and control theory. Such systems are typically viewed as a simple model of hybrid systems, consisting of a finite family of subsystems, equipped with rules determining how to switch between them. The literature on robust control of complex nonlinear systems with set-valued equilibrium such as discontinuous systems using output information is very sparse. This project seeks to extend a framework that has been developed for output feedback control of continuous systems to robust control of complex discontinuous systems using only measured output information. The practical need for such a framework has been demonstrated by recent applications to biped robots, for example, from Chevallereau et al. (2003) and Westervelt et al. (2007) and is also supported by the needs of industry where tighter controls on efficiency are producing increasing levels of monitoring. Incorporating this information in the control loop is a natural next step and discontinuous systems often result. Theoretical developments will be facilitated by interaction between the proposed Visiting Researcher, Professor Orlov, who is a recognised expert on stability analysis and robust control synthesis of uncertain discontinuous systems within the framework of methods of nonsmooth Lyapunov functions and the PI, who is recognised for her work on robust sliding mode control and observation. The applied research will focus on the production of significant implementation studies relating to control of impact mechanical systems and the control of industrial production processes to demonstrate the efficacy of the underlying philosophy and the new design algorithms. These are pertinent design studies to inform the development of the theoretical research programme as well as being used to illustrate the research outcomes.