SGER: Path Invariance for Optimal and Adaptive Maneuvering

SGER：最佳和自适应操纵的路径不变性

• 批准号: 0548841
• 负责人: Petar Kokotovic
• 金额: $ 7.5万
• 依托单位: University of California-Santa Barbara
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2005
• 资助国家: 美国
• 起止时间: 2005-09-01 至 2006-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0548841&HistoricalAwards=false
• 关键词: SGER; Path; Invariance; Optimal; Adaptive

SGER: PATH INVARIANCE FOR OPTIMAL AND ADAPTIVEMANEUVERINGPrincipal InvestigatorPetar V. Kokotovic, ECE, UCSBSanta Barbara, CA [e-mail] SUMMARYThis exploratory proposal pursues several promising new ideas which emerged from the final year of the research under the NSF Grant ECS-0228846 entitled "Nonlinear and adaptive control with unmodeled dynamics". The main results of this research are first briefly reviewed. They demonstrate major advantages achieved when a tracking problem is reformulated as a less restrictive path following problem in which the time variable is replaced by a free parameter to be used as an additional control. Path following formulations are more suitable for most common applications. At the same time they avoid some classical limitations in systems with unstable zero dynamics ("nonminimum phase systems".) This has been reported in our recent conference papers and journal publications which have appeared or are about to appear. Intellectual MeritWe will explore some less certain but highly promising new possibilities to exploit the design freedom provided by path following formulations. The proposed research will attempt to characterize the class of paths for which these possibilities exist. It will then focus on their applicability to an important class of problems in optimal and adaptive maneuvering for autonomous and operator assisted vehicles. The key dynamical property guaranteed by a path following controller is that a selected or optimized path becomes an invariant set, or an invariant manifold, of the vehiclecontroller feedback system. Methods are to be developed for design of such feedback controllers. The additional design freedom is then used to achieve desirable (optimal, adaptive) dynamical properties in the invariant set and thus guarantee the performance ofthe motion along the path. This proposals intellectual merit lies on clarifying further possibilities of separating geometric and dynamic tasks in nonlinear designs and thus making this more accessible to this and other areas of engineering.Broader impactsOn its applied side, this proposal aims at classifying most commonly used vehicular paths - orbits, turns, swerves, - and making them optimal with respect to practically important criteria: effort, energy, safety. An illustrative application of this kind will be a comparative study of advantages of four-wheel steering over the more common frontwheel steering. The expected broader impact of this research is its contribution to saferand more efficient ground vehicles. This proposal will also help educationally by providing funds to employ one graduate student.

SGER：最优和自适应机动的路径不变性首席研究员Petar V. Kokotovic，ECE，UCSB Santa Barbara，CA [e-mail] SummaryThis探索性的建议追求几个有前途的新想法，这些想法来自NSF资助ECS-0228846研究的最后一年，题为“非线性和自适应控制与未建模动态”。本文首先简要回顾了本研究的主要成果。他们表现出的主要优势时，跟踪问题被重新制定为一个限制性较低的路径以下的问题，其中的时间变量被替换为一个自由的参数被用作一个额外的控制。路径跟踪公式更适合于大多数常见的应用。同时，他们避免了一些经典的限制系统不稳定的零动态（“非最小相位系统”）。这已经在我们最近的会议论文和已经出现或即将出现的期刊出版物中报道。 智力MeritWe将探索一些不太确定，但非常有前途的新的可能性，利用路径以下配方提供的设计自由。拟议的研究将试图描述这些可能性存在的路径类。然后，它将集中在他们的适用性的一个重要类别的问题，自主和操作员辅助车辆的最佳和自适应机动。 路径跟踪控制器所保证的关键动力学性质是，所选择或优化的路径成为车辆控制器反馈系统的不变集或不变流形。将开发用于设计这样的反馈控制器的方法。然后，使用额外的设计自由度来实现期望的（最佳的，自适应的）动力学性质的不变集，从而保证性能的运动沿着路径。这一建议的智力价值在于澄清进一步的可能性分离几何和动态任务的非线性设计，从而使这更容易接近这个和其他领域的工程。更广泛的影响在其应用方面，该提案旨在对最常用的车辆路径-轨道、转弯、转弯-进行分类，并使其在实际重要的标准方面达到最佳：努力、能量、安全。这种类型的一个说明性的应用将是比较研究的优势，四轮转向比更常见的前轮转向。这项研究的预期更广泛的影响是它对更安全和更有效的地面车辆的贡献。这项建议也将有助于教育，提供资金雇用一名研究生。