Nonlinear Robust Control Theory and Applications.

Abstract

Robert M'Closkey (now an Assistant Professor in the Mechanical Engineering Department at UCLA) worked in the general area of stabilization of strongly nonlinear systems. His thesis work addresses various control theoretic aspects of driftless control systems. Driftiess systems area class of nonlinear problems that arise in physical systems with nonintegrable (nonholonomic) constraints and/or conservation laws. The stabilization of these systems present special problems no continuous dynamics or static function of the state can stablize the systems to a point. It is necessary to introduce explicit time variation into the control law for the continuous stabilization probe. Recently, several researchers have developed synthesis methods for generating stabilizing controllers. However, the closed-loop systems suffer from very slow convergence rates due to the fact that the control laws are Lioschitz functions.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Oct 10, 1995
Accession Number
ADA303586

Entities

People

  • John Doyle

Organizations

  • California Institute of Technology

Tags

DTIC Thesaurus Topics

  • Abstracts
  • Closed Loop Systems
  • Control Systems
  • Control Theory
  • Electrical Engineering
  • Engineering
  • Engineers
  • Lyapunov Functions
  • Mechanical Engineering
  • Mechatronic Engineering
  • Nonlinear Systems
  • Standards

Readers

  • Control Systems Engineering.
  • Research Science/Academic Research