Nonlinear Control and Observer Design for Unmanned Vehicle Systems

提出的研究探讨了无人驾驶车辆系统（UVSs）中出现的一些基本控制问题。所定义的研究问题是由固有的非线性动力学来描述的，并且通过应用和扩展非线性控制理论来满足目标。基于其控制动力学，这一广泛的理论研究领域研究系统行为的分析、预测和影响。所提出问题的传统解决方案要么没有理论基础，要么依赖线性系统近似和方法。然而，这种近似会破坏有用的系统结构，导致失去洞察力和性能降低，相对于直接解释非线性而不近似的非线性方法。研究目标旨在提供数学上良好的性能优势，并辅以研究人员开发的定制开发的UVS试验台的实验验证。这一发现的经验方面对于指导非线性控制理论的发展和确保其与现实世界的相关性是重要的。将前沿理论和实验相结合的研究对于提高学生的兴趣和为工业界和学术界提供相关培训以保持加拿大在高科技领域的领导地位非常重要。众所周知，UVSs是一个活跃且具有挑战性的应用领域，具有许多真正的民用和军事用途。例如，UVSs能够以独特的成本效益，准确和安全的方式检查关键基础设施或提供环境监测。本研究旨在发展非线性控制，以改善UVS运动控制和导航系统的性能，这是增加UVS技术采用的关键因素。

The proposed research investigates a number of fundamental control problems which arise in Unmanned Vehicle Systems (UVSs). The research problems defined are described by inherently nonlinear dynamics and objectives are met by both applying and extending the theory of nonlinear control. Based on its governing dynamics, this broad theoretical area of research studies the analysis, prediction, and influence of system behaviour. Conventional solutions to the proposed problems have either no theoretical basis or rely on linear system approximations and methods. However, such approximations can destroy useful system structure and lead to lost insight and reduced performance relative to nonlinear methods which directly account for nonlinearity without approximation. The research objectives aim to provide mathematically well-founded performance benefits and are complemented with experimental validation on custom developed UVS test stands which the researcher has developed. The empirical aspect of the discovery is important to guide the development of nonlinear control theory and ensure its real-world relevance. Research which combines the benefits of cutting edge theory and experiment is important in increasing student interest and providing relevant training for industry and academe to maintain Canada's leadership in high technology. It is well known that UVSs are an active and challenging application area with numerous real civilian and military uses. For example, UVSs enable inspection of critical infrastructure or provide environmental monitoring in a uniquely cost effective, accurate, and safe manner. The proposed research aims to develop nonlinear control for improving UVS motion control and navigation system performance which is a crucial element for increased adoption of UVS technology.