A New Approach to High-Performance Control of Nonlinear Systems

非线性系统高性能控制的新方法

• 批准号: DP150100577
• 负责人: Prof Ian Manchester
• 金额: $ 36.51万
• 依托单位: The University of Sydney
• 依托单位国家: 澳大利亚
• 项目类别: Discovery Projects
• 财政年份: 2015
• 资助国家: 澳大利亚
• 起止时间: 2015-02-19 至 2020-12-31
• 项目状态: 已结题
• 来源: https://dataportal.arc.gov.au/RGS/Web/Grants/DP150100577
• 关键词: New; Approach; Performance; Control; Nonlinear

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.

下一代的机器人是高度移动的，并将与他们的环境，彼此和人类合作者显着互动。然而，这导致了高度耦合的非线性动力学行为，并且实现这些系统的精确和可靠的控制正在将当前的控制理论推向临界点。该项目旨在开发一种基于收缩理论和凸优化的非线性系统控制的新方法，将基于优化的控制从线性系统扩展到非线性系统。该项目预计将导致新的理论发展，建设性的算法和软件，并在一系列平台上进行实验演示，包括双足步行机器人和水下机器人。