Presidential Young Investigator Award: Nonlinear and Adaptive Systems, Robotics

随着VLSI原型设计的最新进展， 实际上，考虑实现相当复杂的， 计算密集型、自适应、时变和非线性 控制方案。 这些计划是控制的必要条件 新一代飞机、潜艇、导弹和机器人 机械手，有相当严重的非线性，在他们的动态。 在这项研究中，自适应，线性和非线性的方法 检查控制系统，该系统将生成算法， 以后可以用定制的VLSI格式实现。 一个特定应用 这将是重点关注的工作将是实时的 机器人操作器的控制。 重点关注的优势 机器人机械手的应用有两个：第一，机械手是 实验室内可供试用的控制律;以及 其次，机器人的动力学是复杂的，非线性的， 不精确地知道，导致非线性，自适应， 和预览控制方案，使这个应用程序是一个很好的 算法的基准。

With the advent of recent advances in VLSI prototyping, it is now practical to think about the implementation of rather complicated, computationally intensive, adaptive, time-varying, and non-linear control schemes. Such schemes are a matter of necessity in the control of new generation aircraft, submarines, missiles, and robot manipulators which have rather severe nonlinearities in their dynamics. In this research, methodologies for adaptive, linear, and nonlinear control systems are examined which will generate algorithms that can later be implemented in custom VLSI format. One specific application which will be of focal interest to the work will be the real-time control of robot manipulators. The advantages of focusing on the application to robot manipulators are two: First, manipulators are available in this laboratory on which to try out the control laws; and second, the dynamics of robots are complicated, non-linear, and imprecisely known, resulting in the necessity for non-linear, adaptive, and pre-view control schemes which make this application a good benchmark for the algorithms.