A Generalized Framework for the Control of Chemofluidic Actuators

化学流体致动器控制的通用框架

• 批准号: 0307651
• 负责人: Michael Goldfarb
• 金额: $ 32.99万
• 依托单位: Vanderbilt University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2003
• 资助国家: 美国
• 起止时间: 2003-06-01 至 2006-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0307651&HistoricalAwards=false
• 关键词: Generalized; Framework; Control; Chemofluidic; Actuators

Robotics and Human Augmentation ProgramABSTRACTProposal #0307651Title: A GENERALIZED FRAMEWORK FOR THE CONTROL OF CHEMOFLUIDIC ACTUATORSPI: Goldfarb, MichaelVanderbilt UniversityThe proposed work focuses on the formulation of a framework for the control of chemofluidic actuators for self-powered robots. The control of these actuators is markedly different from standard types of actuators and as such requires the development of unique approaches to their motion and force control. In order to make such chemofluidic actuators broadly available to the robotics community, a formalized theoretical framework for the low-level (i.e., position, force, impedance) control of such actuators will be developed. The proposed work includes system identification for establishing a first-principles lumped-parameter model of reaction dynamics, energetic transport delays, hydraulic flow dynamics, pneumatic flow dynamics, and the transduction of thermal energy through the constitutive behavior of a gas into the mechanical domain. Nonlinear observers will be developed to enable elimination or minimization of sensor requirements, which in turn will reduce the cost of implementation of such a system. Thirdly, nonlinear control design will be fused with nonlinear optimization methods to render the multi-input single-output system energetically efficient. The result of this work will be a chemofluidic actuator modeling and control framework that will enable others in the robotics community to safely and effectively incorporate similar actuators into self-powered robots.

题目：化学流体致动器控制的广义框架[参考文献]Goldfarb， MichaelVanderbilt大学提出的工作重点是制定自供电机器人的化学流体致动器控制框架。这些致动器的控制与标准类型的致动器明显不同，因此需要开发独特的运动和力控制方法。为了使此类化学流体致动器广泛应用于机器人社区，将开发此类致动器的低级（即位置，力，阻抗）控制的形式化理论框架。提出的工作包括建立反应动力学的第一性原理集总参数模型的系统识别，能量传输延迟，液压流动动力学，气动流动动力学，以及通过气体的本构行为将热能转导到机械领域。将开发非线性观测器，以消除或尽量减少对传感器的要求，这反过来又将降低实施这种系统的成本。第三，将非线性控制设计与非线性优化方法相融合，使多输入单输出系统更加高效。这项工作的结果将是一个化学流体致动器建模和控制框架，这将使机器人社区的其他人能够安全有效地将类似的致动器集成到自供电机器人中。