Presidential Young Investigator Award

这个项目是一个多学科的活动，涉及自适应控制、机器人和磁盘技术的研究。自适应控制工作涉及到机械系统在存在未建模动态(如高频弯曲模式)和机械非线性(如库仑摩擦和粘滞)的情况下设计鲁棒自适应控制器的理论和实践考虑。机器人学的工作包括研究机器人连续时间和离散时间自适应控制方案的推导、开发和实验验证，以及开发笛卡尔空间直线轨迹生成算法和使用末端执行器笛卡尔坐标反馈代替关节坐标反馈控制的机器人运动控制。在磁盘技术领域，这项研究致力于应用自校正技术来测量记录头的绝对在位运动，并控制高性能磁盘文件系统的调谐和测试。

This project is a multidisciplinary activity involving research in adaptive control, robotics and magnetic disk technology. The adaptive control work concerns theoretical and practical considerations in the design of robust adaptive controllers for mechanical systems in the presence of unmodelled dynamics, such as high frequency flexural modes, and mechanical nonlinearities, such as Coulomb friction and stiction. The robotics work concerns investigating the derivation, development, and experimental verification of continuous time and discrete time adaptive control schemes for robotic manipulators and the development of cartesian space straight line trajectory generation algorithms and robot motion control using end effector cartesian coordinates feedback instead of joint coordinates feedback control. In the area of magnetic disk technology, the research addresses the application of self tuning techniques to measure the absolute in-plant motion of the recording head and control tuning and testing of high performance disk file systems.