U.S.-Mexico Collaborative Research: Nonlinear Control of Robots and Teleoperators

这一美国-墨西哥奖项将支持伊利诺伊大学香槟分校的马克·斯彭教授与EStudios调查中心的Jaime Alvarez教授和Rafael Castro教授合作进行研究墨西哥城的Avanzados del I.P.N.(CInvestav)。建议的研究将结合非线性和自适应控制理论的技术，包括对具有时滞的非线性系统的控制，详细研究了用于高性能机械手控制的机器人和遥操作臂的动力学。这种合作的主要好处将来自于将机器人动力学方面的专业知识和伊利诺伊州的实验设施与非线性控制理论、自适应控制理论、和CINVESTAV的非线性时滞系统理论。目前的研究可以在危险环境中工作，如核电站的维修和维护、近海石油钻井平台以及海底采矿和勘探。

This U.S.-Mexico award will support Professor Mark Spong of the University of Illinois-Champaign in a research collaboration with Professors Jaime Alvarez and Rafael Castro of the Centro de Investigacion y de Estudios Avanzados del I.P.N. (CINVESTAV) in Mexico City. The proposed research will combine techniques of nonlinear and adaptive control theory, including the control of nonlinear systems with time delay, with detailed studies of the dynamics of robots and teleoperators for the control of high performance manipulators. The primary benefit of this collaboration will arise from the combination of the expertise in robot dynamics and the experimental facilities at Illinois with the expertise in nonlinear control theory, adaptive control theory, and the theory of nonlinear time delay systems at CINVESTAV. The present research could have important applications to work in hazardous environments, such as repair and maintenance in nuclear plants, off-shore oil riggs, and undersea mining and exploration.