U.S.-France Cooperative Research: Adaptive Control of Underactuated Mechanical Systems

这个为期两年的奖项将支持美国伊利诺伊大学的Mark Spong和贡比涅大学的Rogelio Lozano在机器人和控制理论方面的美法合作研究。他们的研究目的是研究欠驱动机械系统的自适应控制。这类系统相当广泛，包括完整和非完整系统，如平衡和行走机器人、空间机器人、柔性连杆机器人和柔性关节机器人。他们将应用最近开发的积分器反推方法到欠驱动系统。这位美国研究者为这次合作带来了机器人动力学和非线性控制方面的大量专业知识。这是由法国研究者在自适应控制理论及其应用于机器人领域的经验补充。该提案将进一步了解这些系统及其在制造业中的应用潜力。

This two-year award will support U.S.-France cooperative research in robotics and control theory between Mark Spong of the University of Illinois and Rogelio Lozano of the University of Compiegne. The objective of their research is to study adaptive control of underactuated mechanical systems. This class of systems is quite broad and encompasses both holonomic and nonholonomic systems such as balancing and walking robots, space robots, flexible link robots, and flexible joint robots. They will apply recently developed methods of integrator backstepping to underactuated systems. The U.S. investigator brings to this collaboration considerable expertise in robot dynamics and nonlinear control. This is complemented by the French investigator's experience in adaptive control theory and its application to the area of robotics. The proposal will further understanding of these systems and their potential for application in manufacturing.