Research Initiation Award: Establishment of an Integrated Analysis, Control Design and Implementation Framework for Hybrid Dynamical Systems with Constraints

研究启动奖：带约束混合动力系统集成分析、控制设计与实现框架的建立

• 批准号: 1601126
• 负责人: Chang Duan
• 金额: $ 30万
• 依托单位: Prairie View A & M University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-06-01 至 2022-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1601126&HistoricalAwards=false
• 关键词: Research; Initiation; Award; Establishment; Integrated

Research Initiation Awards provide support for junior and mid-career faculty at Historically Black Colleges and Universities who are building new research programs or redirecting and rebuilding existing research programs. It is expected that the award helps to further the faculty member's research capability and effectiveness, improves research and teaching at his home institution, and involves undergraduate students in research experiences. The award to Prairie View A&M University has potential broader impact in a number of areas. The goal of the project is to establish an integrated analysis, control design and implementation framework for hybrid dynamical systems with constraints. Such systems contain rich dynamics that can be used to model a large class of physical systems such as robotic systems, advanced manufacturing systems and drug effects to gene networks. Undergraduate students will gain research experiences and the research will be integrated in a number of mechanical engineering courses.The goal of the research is to investigate the theory, engineering, and application of hybrid dynamical systems subjected to various constraints such as actuator nonlinearities, robustness against parameter uncertainties and limitations on hardware when implementing digital controls. Hybrid dynamical systems are characterized by the interaction of continuous system dynamics and discrete event dynamics. Conservatism is often introduced for such complex systems in order to, for example, render convex control synthesis conditions or reduce computational complexity. To avoid introducing such conservatism, efficient analysis and control synthesis algorithms will be created and integrated through exploiting and inventing various modeling and controller structures. A novel underactuated platform will be built to experimentally validate and verify the analysis and control method for a subclass of hybrid dynamical systems. Through this experiment platform, practical issues such as actuator nonlinearities, friction, measurement noise and quantization will also be investigated to enhance and expand the theoretical framework.

研究启动奖为历史上黑人学院和大学的初级和中级职业教师提供支持，他们正在建立新的研究项目或重新定向和重建现有的研究项目。预计该奖项将有助于进一步提高教师的研究能力和效率，改善其所在机构的研究和教学，并使本科生参与研究经验。授予Prairie View A M University的奖项在许多领域具有潜在的更广泛的影响。本计画的目标是建立一个具约束之混合动态系统的整合分析、控制设计与执行架构。这样的系统包含丰富的动力学，可以用来模拟一大类物理系统，如机器人系统，先进的制造系统和药物对基因网络的影响。本科生将获得研究经验和研究将被整合在一些机械工程courses.The研究的目标是调查的理论，工程和应用的混合动力系统受到各种约束，如执行器非线性，对参数不确定性和硬件的限制时，实现数字控制的鲁棒性。混合动态系统是由连续系统动力学和离散事件动力学相互作用而形成的。保守性通常被引入这样的复杂系统，例如，为了呈现凸控制综合条件或降低计算复杂性。为了避免引入这种保守性，将通过开发和发明各种建模和控制器结构来创建和集成有效的分析和控制综合算法。本文将建立一个新型的欠驱动平台，对一类混合动力系统的分析和控制方法进行实验验证。通过这个实验平台，实际问题，如致动器的非线性，摩擦，测量噪声和量化也将被调查，以加强和扩大的理论框架。