Tracking Control of Nonlinear Systems Under Sensing, Computational, and Communication Constraints

目的：本计画的研究目的是探讨非线性系统中资源受限的轨迹追踪控制演算法。跟踪控制器被广泛用于若干应用中，例如用于制造应用的机器人系统中。然而，这些控制器的实现受到几个实际的约束，限制了整体系统的性能。在诸如用于工业自动化的机器人系统的应用中，这些问题阻碍了高精度跟踪的实现，从而阻碍了机器人系统的潜在影响。 与时间触发的周期性采样相比，在这个建议中，一个基于李雅普诺夫函数的事件触发的方法是用于解决非线性systems.Intellectual Merit的资源约束跟踪：研究涉及传感器，计算和通信约束下的非线性系统的跟踪控制器的设计。该方法是基于事件触发控制器的轨迹跟踪在非线性系统中，并通过共同设计的事件触发器和量化器的非线性系统。 该研究将导致混合控制框架的开发，其中可以以统一的方式处理各种资源约束。所提出的方法将提供一个严格的解决方案，在机器人系统中的传感器的约束下跟踪的重要问题，从而显着影响工业automation.Broader影响：了解资源受限的轨迹跟踪使用事件触发控制器将提供一个有用的替代经典的时间触发控制框架。预计拟议的研究将显着提高传感器约束下的机器人系统的跟踪性能，并使其可行的几个新兴的制造应用。 研究生将直接受益于拟议的研究，预计几个本科生和研究生将受益于丰富的课程和项目工作在马里兰州大学。来自代表性不足群体的高中生将通过马里兰州大学被纳入研究工作？的ESTEEM计划。

Objective: The research objective of this proposal is to investigate control algorithms for resource constrained trajectory tracking in nonlinear systems. Tracking controllers are widely utilized in several applications, for example in robotic systems for manufacturing applications. However, the implementation of these controllers is subjected to several practical constraints that limit overall system performance. In applications, such as robotic systems for industrial automation, these problems have prevented the realization of high precision tracking, thereby stymieing the potential impact of robotic systems. In contrast to time-triggered periodic sampling, in this proposal a Lyapunov function based event-triggered approach is utilized for addressing resource constrained tracking in nonlinear systems.Intellectual Merit: The research deals with design of tracking controllers for nonlinear systems under sensor, computational, and communication constraints. The approach is based on event-triggered controllers for trajectory tracking in nonlinear systems and by co-designing event- triggers and quantizers for nonlinear systems. The research will lead to the development of a hybrid control framework where various resource constraints can be treated in a unified manner. The proposed approach will provide a rigorous solution to the important problem of tracking in robotic systems under sensor constraints, thereby significantly impacting industrial automation.Broader Impact: The understanding of resource constrained trajectory tracking using an event-triggered controller will provide a useful alternative to the classical time-triggered control framework. The proposed research is anticipated to significantly enhance the tracking performance of robotic systems under sensor constraints and render them viable for several emerging manufacturing applications. Graduate students will directly benefit from the proposed research, and it is expected that several undergraduate and graduate students will benefit from the enriched curricula and project work at University of Maryland. High school students from underrepresented groups will be included in the research effort through the University of Maryland?s ESTEEM program.