Robust Output Feedback Sliding Mode Control for Time-delay Systems

本研究主要是针对非线性、复杂且不确定的工业过程，发展新颖且理论上合理的滑动模式控制技术。该研究将集中于扩展现有的滑模控制设计范例，使该方法的应用，其已被证明的鲁棒性，与后效应的系统，否则被称为时滞系统，当只有给定的输出信号可用于测量。应用研究将侧重于生产两个重要的实施研究，涉及自动和半自动车辆的控制以及卫星的控制，以证明基本理念和新设计算法的有效性。这些都是相关的设计研究，以通知理论研究计划的发展，以及被用作车辆，以说明研究成果。针对存在时滞的不确定非线性系统，基于测量系统输出的知识，给出了鲁棒滑模控制问题的实用而又严格的理论解决方案。这个问题将被认为是从连续和离散时间的角度来看。产生与卫星和自动和半自动车辆控制相关的重要实施研究，以证明理论结果与工业的相关性。

This research is concerned with the development of novel, theoretically sound sliding mode control techniques for application to nonlinear, complex and uncertain industrial processes. The research will focus on extending the existing sliding mode control design paradigm to enable the application of the methodology, with its proven robustness properties, to systems with after effect, otherwise known as time-delay systems, when only given output signals are available for measurement. The applied research will focus on the production of two significant implementation studies relating to control of autonomous and semi-autonomous vehicles and also the control of satellites 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 as vehicles to illustrate the research outcomes.The broad objectives are1. To provide practical yet theoretically rigorous solutions to the problem of robust sliding mode control for uncertain nonlinear systems in the presence of time-delay based upon knowledge of the measured system output(s). The problem will be considered from both a continuous and discrete time perspective.2. To produce significant implementation studies relating to control of satellites and autonomous and semi-autonomous vehicles which demonstrate the relevance of the theoretical results to industry.