CAREER: Integration of Planning and Control for Nonlinear Systems

职业：非线性系统规划与控制的集成非线性系统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。本研究的目标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，轨迹规划算法将用于广泛的非线性系统。最后，将研究反馈控制与规划轨迹的集成，并开发用于生成规划和跟踪控制律的算法。这项研究的结果将对自主系统的发展领域产生广泛的影响，允许对变化的条件做出更好的反应，如感知障碍或大的干扰。通过以集成的方式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，并且需要最小的能量。这个项目的教育计划包括开发一套基于web的教程，教导学生系统建模概念的重要性和实用性。通过使用强大的仿真软件，可以很容易地处理非线性系统模型，并且可以将更现实的例子纳入系统建模课程。

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.