Robust and adaptive control design for nonlinear systems with applications to robot manipulators and aerial robots

非线性系统的鲁棒自适应控制设计及其在机器人操纵器和空中机器人中的应用

• 批准号: 228465-2006
• 负责人: Tayebi, Abdelhamid
• 金额: $ 1.82万
• 依托单位: Lakehead University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2007
• 资助国家: 加拿大
• 起止时间: 2007-01-01 至 2008-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=365949
• 关键词: Robust; adaptive; control; design; nonlinear

This project deals with adaptive and robust control design for nonlinear systems with applications to robot manipulators and unmanned aerial vehicles (UAV's). The first problem that we would like to tackle, during the course of this project, is the design and real-time implementation of some robust and adaptive iterative learning controllers (ILCs) for industrial robot manipulators performing repetitive tasks (e.g., automotive manufacturing industry). In particular, we would like to tackle some of the technical and practical limitations in ILC design, which prevent ILC techniques from being fully exploitable in practical applications. The second topic that we would like to address, during the course of this project, is the robust attitude stabilization of vertical take-off and landing (VTOL) aerial vehicles such as the quadrotor and the ducted-fan aircraft. In fact, being able to design a VTOL-UAV, which is highly maneuverable and extremely stable, is an important contribution to the field of aerial robotics since potential applications are tremendous ( e.g., exploration of hazardous environments, high buildings and monuments investigation, rescue missions, film making, etc). One of the main challenges in achieving such an objective is the elaboration of efficient low-cost sensors and processing techniques for the attitude measurement/estimation, as well as the development of efficient control laws. The expected high-quality theoretical research, supported by practical applications, will increase the state of the knowledge in modern control engineering. Moreover, the proposed research project will provide opportunities for excellent training of high-qualified professionals in challenging and promising research fields.

本项目研究非线性系统的自适应和鲁棒控制设计，并将其应用于机器人操作器和无人机(UAV)。在这个项目的过程中，我们想要解决的第一个问题是为执行重复任务的工业机器人机械手(例如，汽车制造业)设计和实时实现一些健壮的、自适应的迭代学习控制器(ILCs)。特别是，我们希望解决ILC设计中的一些技术和实践限制，这些限制阻碍了ILC技术在实际应用中的充分开发。在本项目过程中，我们想要讨论的第二个主题是垂直起降飞行器(VTOL)的稳健姿态稳定，例如四旋翼和导管风扇飞机。事实上，能够设计出高度机动和非常稳定的垂直起降无人机是对空中机器人领域的重要贡献，因为潜在的应用是巨大的(例如，危险环境的探索、高层建筑和古迹调查、救援任务、电影制作等)。实现这一目标的主要挑战之一是开发用于姿态测量/估计的高效低成本传感器和处理技术，以及开发有效的控制律。期望高质量的理论研究，加上实际应用的支持，将提高现代控制工程的知识水平。此外，拟议的研究项目将为在具有挑战性和有前途的研究领域提供优秀的高素质专业人员培训提供机会。