Presidential Young Investigator Award: Nonlinear and Adaptive Systems, Robotics

随着VLSI原型设计的最新进展，现在可以考虑实现相当复杂、计算密集、自适应、时变和非线性控制方案。在新一代飞机、潜艇、导弹和机器人机械臂的动力学非线性比较严重的控制中，这种方案是必不可少的。在本研究中，研究了自适应、线性和非线性控制系统的方法，这些方法将生成以后可以在自定义VLSI格式中实现的算法。一个具体的应用将是重点关注的工作将是机器人操纵器的实时控制。重点研究控制律在机器人机械手上的应用有两个好处：首先，本实验室有可用于实验控制律的机械手；其次，机器人的动力学是复杂的、非线性的和不精确的，这导致了非线性、自适应和预视控制方案的必要性，这使得该应用程序成为算法的一个很好的基准。

With the advent of recent advances in VLSI prototyping, it is now practical to think about the implementation of rather complicated, computationally intensive, adaptive, time-varying, and non-linear control schemes. Such schemes are a matter of necessity in the control of new generation aircraft, submarines, missiles, and robot manipulators which have rather severe nonlinearities in their dynamics. In this research, methodologies for adaptive, linear, and nonlinear control systems are examined which will generate algorithms that can later be implemented in custom VLSI format. One specific application which will be of focal interest to the work will be the real-time control of robot manipulators. The advantages of focusing on the application to robot manipulators are two: First, manipulators are available in this laboratory on which to try out the control laws; and second, the dynamics of robots are complicated, non-linear, and imprecisely known, resulting in the necessity for non-linear, adaptive, and pre-view control schemes which make this application a good benchmark for the algorithms.