CAREER: Integration of Planning and Control for Nonlinear Systems

道恩·蒂尔伯里，密歇根大学9876039CAREER：非线性系统的计划和控制的集成非线性系统的运动控制的经典方法可以分为两个独立的步骤。首先进行路径规划，然后找到保证系统收敛到期望路径的跟踪控制律。这项研究的目的是建立一个统一的框架来解决非线性系统的规划和跟踪问题。实现这一研究目标的策略是首先量化非线性系统轨迹的几个特征。然后，将为一大类非线性系统开发轨迹规划算法。最后，将研究反馈控制与计划轨迹的集成，并将开发生成规划和跟踪控制律的算法。这项研究的结果将对不断增长的自主系统领域产生广泛的影响，使其能够对不断变化的条件做出更好的反应，例如感知到的障碍或大的干扰。通过综合考虑规划和跟踪问题，可以生成系统容易遵循的路径：快速、健壮、稳定和所需能量最少。该项目的教育计划包括开发一套基于Web的教程，向学生传授系统建模概念的重要性和实用性。通过使用功能强大的仿真软件，可以非常容易地处理非线性系统模型，并可以在系统建模课程中融入更真实的例子。

Dawn Tilbury, University of Michigan9876039CAREER: Integration of Planning and Control for Nonlinear SystemsThe classical approach to motion control for nonlinear systems can be broken down into two independent steps. Path planning is done first, and then a tracking control law is found which guarantees that the system converges to the desired path. The goal of this research is to develop a unified framework in which to address the both the planning and the tracking problems for nonlinear systems. The strategy for accomplishing this research goal is to first quantify several characteristics of trajectories for nonlinear systems. Trajectory planning algorithms will then be developed for a broad class of nonlinear systems. Finally, the integration of feedback control with the planned trajectories will be examined, and algorithms will be developed for generating both the planning and tracking control laws. The results of this research will have a broad impact on the growing area of autonomous systems, allowing for better reactions to changing conditions such sensed obstacles or large disturbances. By considering the planning and tracking problems in an integrated fashion, paths can be generated that are "easy" for the system to follow: fast, robust, stable, and requiring minimum energy.The education plan for this project includes developing a set of web-based tutorials to teach students the importance and utility of system modeling concepts. By using powerful simulation software, nonlinear system models can be treated quite easily, and more realistic examples can be incorporated into system modeling courses.