CAREER: A Computational Approach to Control of Hybrid Robotic Systems

职业：混合机器人系统控制的计算方法

• 批准号: 0093581
• 负责人: Milos Zefran
• 金额: $ 40万
• 依托单位: University of Illinois at Chicago
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2001
• 资助国家: 美国
• 起止时间: 2001-03-15 至 2007-02-28
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0093581&HistoricalAwards=false
• 关键词: CAREER; Computational; Approach; Control; Hybrid

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.

我们的目标是一个新的计算方法的混合机器人系统的控制器的设计。该方法将基于用于提取非线性混合系统的分段线性近似的算法，并且将被应用于机器人中的两个问题：1）混合系统的极限环的稳定性;以及2）混合系统的无源性分析。利用偏序和多个李雅普诺夫函数的概念的稳定性准则将被适应分段线性系统，并与所提出的计算方法来表征混合系统的无源性。在教育方面，PI将开发一个机器人课程，强调工程和计算机科学之间的密切互动;混合机器人系统将被用作激励的例子。该课程将强调跨学科教育对解决新技术挑战的重要性。