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

本计画主要研究非线性系统之适应性与强健性控制设计，并应用于机械手与无人机。在这个项目的过程中，我们想解决的第一个问题是设计和实时实现一些鲁棒和自适应迭代学习控制器（ILC），用于执行重复任务的工业机器人机械手（例如，汽车制造业）。特别是，我们想解决一些技术和实际的限制，在ILC设计，这使得ILC技术在实际应用中被充分利用。在这个项目的过程中，我们要解决的第二个问题是垂直起降（VTOL）飞行器，如四旋翼和涵道风扇飞机的鲁棒姿态稳定。事实上，能够设计高度可折叠且极其稳定的VTOL-UAV是对航空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、高层建筑和纪念碑的调查、救援任务、电影制作等）。实现这一目标的主要挑战之一是制定有效的低成本传感器和处理技术的姿态测量/估计，以及有效的控制律的发展。预期的高质量的理论研究，实际应用的支持，将增加现代控制工程的知识状态。此外，拟议的研究项目将为高素质的专业人员在具有挑战性和有前途的研究领域提供良好的培训机会。

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.