U.S.-France Cooperative Research: Non-Smooth Feedback Control of Nonholonomic Mechanical Systems with Applicationsto Mobile Robots

这个为期三年的奖项支持美法合作研究，旨在设计 非完整机器人系统的控制律。 非完整系统是力学的 运动约束系统。 该合作涉及Panagiotis Tsiotras的 弗吉尼亚大学和由卡洛斯A. Canudas de Wit at the 国立电气工程师学院自动化实验室 法国格勒诺布尔。 研究人员将开发一种方法，为特殊类别的非完整系统构建非光滑、时不变的反馈控制律。 系统，其中包括移动的机器人的情况。 控制法的实施， 力或扭矩致动器和鲁棒性外部干扰将被检查。 的 然后将对控制进行实验测试，并与使用移动的的其他方法进行比较。 弗吉尼亚大学和格勒诺布尔自动化实验室的机器人。 美国调查员为这一合作带来了稳定和控制 刚体 这是由法国研究人员的非线性专业知识的补充， 控制理论与非完整系统控制。 该项目将促进知识 具有快速收敛速度的非完整系统的新的非线性算法， 可以应用于自主或半自主的移动的机器人和欠驱动 机械系统。

This three-year award supports US-France cooperative research aimed at the design of control laws for nonholonomic robot systems. Nonholonomic systems are mechanical systems with motion constraints. The collaboration involves Panagiotis Tsiotras of the University of Virginia and the research group led by Carlos A. Canudas de Wit at the Automation Laboratory of the Ecole Nationale Superieure d'Ingenieurs Electriciens in Grenoble, France. The investigators will develop a methodology for constructing non- smooth, time-invariant, feedback control laws for special classes of nonholonomic systems, which include the case of mobile robots. Implementation of the control laws via force or torque actuators and robustness to external disturbances will be examined. The controls will then be experimentally tested and compared to other methods using mobile robots at the University of Virginia and at the Automation Laboratory in Grenoble. The US investigator brings to this collaboration expertise in stabilization and control of rigid bodies. This is complemented by the French investigator's expertise in nonlinear control theory and control of nonholonomic systems. The project will advance knowledge of new nonlinear algorithms for nonholonomic systems with fast convergence rates and could be applied to autonomous or semi-autonomous mobile robots and underactuated mechanical systems.