CAREER: Integration of Planning and Control for Nonlinear Systems

职业:非线性系统规划与控制的集成

基本信息

项目摘要

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.
道恩蒂尔伯里,美国密歇根大学9876039职业生涯:非线性系统的规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,然后找到一个跟踪控制律,保证系统收敛到期望的路径。本研究的目标是发展一个统一的框架,在其中解决规划和跟踪问题的非线性系统。 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。 轨迹规划算法,然后将开发一个广泛的非线性系统。 最后,将检查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不断发展产生广泛的影响,从而能够更好地应对不断变化的条件,例如感知到的障碍物或大干扰。 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,并且需要最少的能量。该项目的教育计划包括开发一套基于Web的教程,向学生讲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,非线性系统模型可以很容易地处理,更现实的例子可以纳入系统建模课程。

项目成果

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Dawn Tilbury其他文献

Automatic logic generation for reconfigurable cell-based manufacturing systems
  • DOI:
    10.1016/s1474-6670(17)30718-8
  • 发表时间:
    2004-09-01
  • 期刊:
  • 影响因子:
  • 作者:
    Emanuel Almeida;Dawn Tilbury
  • 通讯作者:
    Dawn Tilbury
Special Issue on WODES’06

Dawn Tilbury的其他文献

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{{ truncateString('Dawn Tilbury', 18)}}的其他基金

IUCRC Planning Grant University of Michigan: Center for Digital Twins for Consolidated Manufacturing Intelligence (DTCMI)
IUCRC 规划拨款密歇根大学:整合制造智能数字孪生中心 (DTCMI)
  • 批准号:
    2317070
  • 财政年份:
    2023
  • 资助金额:
    $ 20万
  • 项目类别:
    Standard Grant
EAGER: Cyberinfrastructure for Manufacturing Systems: Needs and Opportunities
EAGER:制造系统的网络基础设施:需求和机遇
  • 批准号:
    1150330
  • 财政年份:
    2011
  • 资助金额:
    $ 20万
  • 项目类别:
    Standard Grant
Mentoring and Networking Workshop for Junior Women Faculty in the Big 10
十大女性青年教师的指导和网络研讨会
  • 批准号:
    1013237
  • 财政年份:
    2010
  • 资助金额:
    $ 20万
  • 项目类别:
    Standard Grant
Student Travel Grant Program for the 2008 American Control Conference in Seatle on June 11-13, 2008
2008 年 6 月 11 日至 13 日在西雅图举行的 2008 年美国控制会议的学生旅费资助计划
  • 批准号:
    0812718
  • 财政年份:
    2008
  • 资助金额:
    $ 20万
  • 项目类别:
    Standard Grant
Modular Verification of Logic Controllers
逻辑控制器的模块化验证
  • 批准号:
    0528287
  • 财政年份:
    2005
  • 资助金额:
    $ 20万
  • 项目类别:
    Standard Grant
Workshop on Feedback Control of Computing Systems
计算系统反馈控制研讨会
  • 批准号:
    0522209
  • 财政年份:
    2005
  • 资助金额:
    $ 20万
  • 项目类别:
    Standard Grant
ITR: Feedback Control of Dynamic Computing Systems
ITR:动态计算系统的反馈控制
  • 批准号:
    0219047
  • 财政年份:
    2002
  • 资助金额:
    $ 20万
  • 项目类别:
    Standard Grant
Workshop on Logic Control for Manufacturing Systems
制造系统逻辑控制研讨会
  • 批准号:
    0075426
  • 财政年份:
    2000
  • 资助金额:
    $ 20万
  • 项目类别:
    Standard Grant
Real-time Distributed Control: Optimizing Mechanical Performance using Adaptive Computing and Communication Techniques
实时分布式控制:使用自适应计算和通信技术优化机械性能
  • 批准号:
    9977179
  • 财政年份:
    1999
  • 资助金额:
    $ 20万
  • 项目类别:
    Standard Grant
Intelligent Controll of an Autonomous Flying Vehicle
自动飞行器的智能控制
  • 批准号:
    9528115
  • 财政年份:
    1996
  • 资助金额:
    $ 20万
  • 项目类别:
    Standard Grant

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