Two Degree of Freedom Design for Robust Nonlinear Control of Mechanical Systems

9502224--这个职业奖强调使用两自由度设计技术为执行运动控制任务的机械系统生成非线性控制器。典型的应用包括使用矢量化推力推进的有人驾驶飞机的高性能控制，执行监视和其他任务的无人飞行器的导航和控制，水下机器人的运动控制和稳定，以及陆基机器人运动系统的控制。非线性控制器综合问题首先分解为系统标称模型的可行轨迹设计，然后使用在存在不确定性的情况下具有保证性能的控制器来围绕该轨迹进行调节。设计了一种新的方法，用于快速生成实现期望控制目标的次优轨迹。教育活动包括开发控制和动力系统的创新课程，建立研究生和本科生教学实验实验室，以及让本科生参与以独立研究为导向的项目。

9502224 Murray This CAREER award emphasizes the use of two-degree-of- freedom design techniques for generating nonlinear controllers for mechanical systems performing motion control tasks. Typical applications include high performance control of piloted aircrafts using vectored thrust propulsion, navigation and control of unmanned flight vehicles performing surveillance and other tasks, motion control and stabilization of underwater vehicles , and control of land based robotic locomotion systems. The nonlinear controller synthesis problem is initially separated into the design of a feasible trajectory for the nominal model of the system, followed by regulation around that trajectory using controllers that have guaranteed performance in presence of uncertainties. New methods are devised for quickly generating suboptimal trajectories that accomplish a desired control objective. Educational activities include development of innovative curriculum in control and dynamical systems, setting up experimental laboratories for graduate and undergraduate teaching, and involving undergraduate students in independent research-oriented projects.***