Accession Number : ADA303586

Title :   Nonlinear Robust Control Theory and Applications.

Descriptive Note : Final rept. 1 Jun 92-31 May 95,

Corporate Author : CALIFORNIA INST OF TECH PASADENA DEPT OF ELECTRICAL ENGINEERING

Personal Author(s) : Doyle, John C.

PDF Url : ADA303586

Report Date : 10 OCT 1995

Pagination or Media Count : 4

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.

Descriptors :   *NONLINEAR SYSTEMS, *MECHANICAL ENGINEERING, *CONTROL THEORY, STABILIZATION, PROBES, CONTROL SYSTEMS, SYNTHESIS, DYNAMICS, PHYSICAL PROPERTIES, RATES, THESES, TIME, VARIATIONS, CONVERGENCE, CONSERVATION, STATICS, CLOSED LOOP SYSTEMS.

Subject Categories : Cybernetics
      Machinery and Tools

Distribution Statement : APPROVED FOR PUBLIC RELEASE