Controller Design for Systems with Unknown Nonlinear Dynamics

该项目的目标是开发具有未知非线性动力学的系统的控制器设计。该方法不同于现有的自适应控制、变结构控制、学习控制等方法。对于这个概念，在每个采样时间观察系统响应（位置、速度和加速度），并直接用于修改控制器动作，而不是像其他方法那样调整控制器增益。初步调查表明，提出的概念是有希望的。本课题阐述了控制器的基本概念，对控制器的稳定性进行了检验，并对控制器的硬件实现进行了研究。这个概念在麻省理工学院制造和生产力实验室的一个机器人机械手上进行了测试。

The project goal is the development of a controller design for systems with unknown nonlinear dynamics. The method differs from current methods including adaptive control, variable structure control, and learning control. For this concept, at each sampling time the system response (position, velocity, and acceleration) is observed and used directly to modify controller actions rather than to adjust the controller gains as is the case for the other methods. Preliminary investigations indicate that the proposed concept has promise. The project formulates the fundamentel concept, examines stability, and also the hardware implementation of the controller. The concept is tested on a robot manipulator at the MIT Laboratory for Manufacturing and Productivity.