Design of Robust Digital Controllers

这项提议是为了继续格兰特领导下开始的研究 ECS-8505645，并关注理论的发展， l1优化应用的计算机辅助设计算法 非线性系统数字控制器的设计。 简要回顾了l1最优控制的研究现状， 几个领域的研究进行了讨论的背景下，控制的一个 机械手 所讨论的问题具有普遍意义 并且不限于用于激励的特定装置。

This proposal is for the continuation of research begun under Grant ECS-8505645 and is concerned with the development of theory and computer aided design algorithms for application of l1-optimization theory to the design of digital controllers for nonlinear systems. The current status of l1-optimal control is briefly reviewed and several areas of research are discussed in the context of control of a robotic manipulator. The problems discussed are of general interest and are not restricted to the particular device used for motivation.