Control of Underactuated, Nonlinear, Non-holonomic, Mechanical Systems

9813182 Kelkar本研究项目的主要目标是开发一个统一的框架，用于欠驱动线性和非线性非完整系统的稳定和控制。 特别是，它的目的是开发一种方法用于控制非线性欠驱动非完整系统，其中将包括开环不稳定和/或非最小相位系统。 作为一个特例，该方法也适用于线性系统。 同样，该方法也将适用于完整系统。 所提出的研究将产生一种方法，以获得一类控制器（而不是一个特定的控制器）的欠驱动非线性系统的稳定和控制。 所提出的方法具有很大的潜力，在设计的鲁棒控制器和容错控制器难以控制的非线性系统，导致开发的软件工具（工具箱），可以生成控制器为一个给定的欠驱动系统。 该方法是基于一类辅助稳定系统的建设，其中每一个将相当于原系统与适当选择的控制器。 对欠驱动二维光纤陀螺的仿真结果进行了分析。倒置的推车系统的计算结果，并与现有的最新结果进行了比较，作为理论的验证。该方法将推进国家的最先进的控制领域的非线性系统以及非线性控制器。 本研究的结果将提高控制能力的一大类真实的生命系统，例如，飞机和航天器的执行器故障模式，水下航行器，和往复运动。 为了证明这种方法的可行性，将开展一系列对照实验。 每个装置将代表一类欠驱动非线性机械系统与两个或更多的自由度。 ***

9813182 Kelkar The main objective of this research project is to develop a unified framework for the stabilization and control of underactuated linear and nonlinear nonholonomic systems. In particular, it is aimed to develop a methodology for the control of nonlinear underactuated nonholonomic systems which will include open-loop unstable and/or non-minimum phase systems. As a special case, the methodology will be applicable to linear systems as well. Similarly, the methodology will also be applicable to holonomic systems. The proposed research will yield a methodology to obtain a class of controllers (and not a specific controller) for stabilization and control of underactuated nonlinear systems. The proposed method has great potential in the design of robust controllers and fault-tolerant controllers for difficult-to-control nonlinear systems, leading to the development of a software tool (toolbox) which can generate controllers for a given underactuated system. The methodology is based on the construction of a class of auxiliary stable systems each of which will be equivalent to the original system with a proper choice of controller. The simulation results for an underactuated 2-d.o.f. inverted pendulum-cart system are included and compared with the existing recent results as a validation of the theory. The methodology will advance the state-of-the-art in the area of control of nonlinear systems as well as nonlinear controllers. The results of this research will enhance ability to control a large class of real life systems, for example, aircraft and spacecraft in actuator failure mode, underwater vehicles, and biped locomotion. To demonstrate the viability of this methodology, a series of control experiments will be developed. Each apparatus will represent a class of underactuated nonlinear mechanical systems with two or higher degrees-of-freedom. ***