Nonlinear Robust Control Theory and Applications.
Final rept. 1 Jun 92-31 May 95,
CALIFORNIA INST OF TECH PASADENA DEPT OF ELECTRICAL ENGINEERING
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Robert MCloskey 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 andor 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.
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