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

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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.***