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Practical output regulation for nonlinear systems

Nonlinear Control Based on Energy

Computational Approach to Synthesizing Nonlinear Control Laws

Neural Networks and Intelligent Computation

Nonlinear Dynamics

Robust Control of Uncertain Nonlinear Systems

Internet-Based Control
 Research Grant

                                                    

Practical output regulation for nonlinear systems

The nonlinear output regulation problem (also known as servomechanism problem) aims to achieve asymptotic tracking with disturbance rejection in nonlinear systems via feedback control. Research on this topic has led to a powerful nonlinear control methodology that can handle a large class of nonlinear systems. Solvability of this problem has been well understood. The practical computation of the control law, however, has not been well addressed due to the reliance of the control law on the solution of a set of mixed nonlinear partial differential and algebraic equations known as the regulator equations. The objectives of this project are

1. to obtain the approximate solution of the regulator equations up to an arbitrary accuracy based on a class of feedforward networks; and
2. to establish a control strategy that can solve the nonlinear output regulation problem approximately and practically.

                      
Nonlinear Control Based on Energy

This projects aims to develop energy based nonlinear control approaches with applications to modern power systems. This project is affiliated with The Institute of Systems Science, Chinese Academy of Science. The project is a subproject of one of The national-973-Plan projects "The Vital Research on Collapse Prevention and Optimal Operation of Modern Power Systems" which is affiliated with Tsinghua University.

 

Computational Approach to Synthesizing Nonlinear Control Laws

Synthesis of modern nonlinear control laws typically involves solving complex nonlinear algebraic or differential equations. For example, the nonlinear H-infinity control law is expressed in terms of the solution of the Hamilton-Jacobi-Isaacs (HJI) equation. Due to the nonlinear nature, such equations usually do not admit closed-form solution. This project aims to develop an efficient algorithm and data structure that leads to efficient approximation of the nonlinear H-infinity control law. This project is supported by the Hong Kong Research Grants Council (1997 - 1999).

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Neural Networks and Intelligent Computation

Neural networks can be used to emulate dynamic systems to facilitate both analysis and simulation. The well known universal approximation theorem enables a neural network to learn the behaviors of a dynamic system through training the input-output relations of the systems. This project will exploit the capability of the neural networks to design control systems for high performance vehicles, precision machines, etc.

Nonlinear Dynamics

Nonlinear phenomena such as bifurcation and chaos as well as their applications to engine systems and flight vehicles will be investigated. Also, stabilization of nonlinear systems using differential geometric control theory will be studied.

Robust Control of Uncertain Nonlinear Systems

This project, supported by the Hong Kong Research Grants Council (1996 - 1998), aims to tackle a long-standing open problem in nonlinear control that involves finding a control law capable of achieving asymptotic tracking and disturbance rejection in uncertain nonminimum phase nonlinear systems. The success of this research may lead to an effective approach to controlling highly uncertain nonlinear systems such as high performance missile and/or aircraft systems, high accuracy robot manipulators, and large maneuvering spacecraft.

Internet-Based Control

This research is aimed to build a web-based real time control system that can be access anytime, anywhere via the Internet. By conducting with the world wide web interface, experiments can be performed as a concept of distance remote control. The core of the research is to provide a server side communicating with the experiment instruments, such as a robot arm, to allow an interactive control carried out by the client side with the interchange of data. Users monitoring and network security are also the factors to be concerned. Increased flexibility, interaction and controllability are the main benefits from this idea. Resources are also greatly saved from this Internet based approach due to nowadays' widely exploding networking development.


 

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Department of Automation and Computer-Aided Engineering
The Chinese University of Hong Kong