A New Approach to High-Performance Control of Nonlinear Systems

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The coming generation of robots are highly mobile and will interact significantly with their environment, each other, and human collaborators. However, this leads to highly coupled nonlinear dynamical behaviour, and achieving accurate and reliable control of these systems is pushing current control theory to breaking point. This project aims to develop a new approach to control of nonlinear systems based on contraction theory and convex optimisation, extending the power of optimisation-based control from linear to non-linear systems. The project is expected to lead to new theoretical developments, constructive algorithms and software, and experimental demonstrations on a range of platforms including bipedal walking robots and underwater robots.