CAREER: A Computational Approach to Control of Hybrid Robotic Systems

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The goal is a new computational method for the design of controllers for hybrid robotic systems. The method will be based on algorithms for extracting piecewise-linear approximations of nonlinear hybrid systems, and will be applied to two problems in robotics: 1) stability of limit cycles for hybrid systems; and 2) passivity analysis of hybrid systems. Stability criteria that exploit concepts of partial order and multiple Lyapunov functions will be adapted to piecewise-linear systems, and used with the proposed computational method to characterize passivity of hybrid systems. On the education side, the PI will develop a robotics curriculum that emphasizes close interaction between engineering and computer science; hybrid robotic systems will be used as motivating examples. The curriculum will underline the importance of interdisciplinary education for solving new technological challenges.