Impulsive Control of Under-Actuated Dynamical Systems

该奖项是根据2009年《美国复苏和再投资法案》(公法111-5)提供资金的。该研究奖的目的是扩大脉冲控制的应用范围，更重要的是将脉冲控制从理论转化为实践。这将通过研究和实验实现欠驱动动力系统的脉冲控制来实现。需要解决的主要问题是两足动物的平衡、行走和爬楼梯；但将首先研究准双足机器人和肢端机器人的摆动控制。这些都是驱动不足系统的基准问题。解决这些问题的动机是将本研究的结果与文献中的结果进行比较，确定脉冲控制对这些系统的优势；在实验中对这些系统实施脉冲控制，这些系统的复杂性相对简单；了解脉冲控制输入对系统行为的影响，目的是学习处理两足运动和其他机器人任务中因间歇接触而产生的脉冲力。对于大多数动态系统，冲力不包括在允许的控制集中。通过建立欠驱动系统脉冲控制的优势，这项研究将开启对卫星轨道转移、导弹和水下机器人快速机动以及假肢控制等广泛问题的探索。这一奖项将通过研究和教育的整合、多样性和外展产生广泛的影响。它将为研究生提供研究课题，并为培养未来一代工程师和学者做出贡献。研究成果将被纳入选定的课程，并在档案期刊上发表，并将努力增加少数群体的参与。外展部分将包括与联邦政府实验室的研究人员分享成果，以及与其他大学的教职员工合作。

This award is funded under the American Recovery and Reinvestment Act of 2009 (Public Law 111-5). The objective of this research award is to expand the sphere of application of impulsive control, and importantly, translate impulsive control from theory to practice. This will be achieved through investigation and experimental implementation of impulsive control in under-actuated dynamical systems. The main problems to be addressed are balancing, walking, and stair-climbing in bipeds; but swing-up control of the pendubot and acrobot will be investigated first. These are benchmark problems in under-actuated systems. The motivation for addressing these problems is to compare the results of this research with results in the literature and establish the advantages of impulsive control for these systems; implement impulsive control for these systems in experiments, which are relatively simple in terms of complexity; and understand the effect of impulsive control inputs on system behavior with the objective of learning to deal with impulsive forces arising from intermittent contact in bipedal locomotion and other robotic tasks.Impulsive forces are not included in the set of admissible controls for most dynamical systems. By establishing the advantages of impulsive control of under-actuated systems, this research will initiate exploration of impulsive control for a wide range of problems such as orbital transfer of satellites, rapid maneuvering of missiles and underwater vehicles, and control of prosthetic devices. This award will have broad impact through integration of research and education, diversity, and outreach. It will provide research topics to graduate students and contribute towards the development of future generation engineers and academics. The research results will be integrated into select courses and published in archival journals and efforts will be made to increase the participation of minorities. The outreach component will include sharing results with researchers at federal government laboratories and collaboration with faculty in other universities.