CAREER: Control of Dynamical Systems with Reduced Control Authority and Application to Autonomous Underwater Vehicles

9502477伦纳德此补助金支持一个综合研究和教育活动，解决重要的和具有挑战性的工程问题，而在同一时间培养一个动态的学习环境中，研究激励和振兴教育，教育激发新的研究思路和培养未来的领导者的计划。 研究中心的非线性控制动力系统与减少控制权限和应用于自主水下航行器（AUV）。 研究结果将对AUV的效率和可靠性产生重大影响，AUV的需求越来越大，因为它们有望在科学，环境，工业和军事水下任务中发挥核心作用。 与此同时，如AUV的动力系统的控制提供了一个令人兴奋的新的研究课题，吸引了学生的兴趣，可以在课堂内外使用，以激励基础学习，并介绍本科生和研究生的创新研究。 建议的研究的目标是开发一个框架，用于合成控制律来管理的动态系统，具有减少数量的独立控制输入相比，典型的使用（也称为欠驱动动态系统）的运动。 控制权的降低可能是执行器故障的意外结果，也可能是经济设计选择的故意结果。 因此，本研究将提供解决方案（1）通过利用内置系统冗余和使系统能够适应控制权限的变化，如执行器故障，以提高系统的容错性和（2）选择控制执行器的数量和类型和执行器配置控制系统设计，以最好地实现所需的性能结果。 该研究适用于AUV以及其他系统，包括航天器，移动的机器人和振动执行器。 ***

9502477 Leonard This grant supports a program for integrated research and education activities that address important and challenging engineering problems while at the same time foster a dynamic learning environment in which research motivates and vitalizes education, and education inspires fresh ideas for research and nurtures future leaders. The research centers on nonlinear control of dynamical systems with reduced control authority and application to autonomous underwater vehicles (AUV). The results of the research will have a significant impact on the efficiency and reliability of AUV's which are increasingly in demand as they are expected to play a central role in scientific, environmental, industrial and military underwater missions. At the same time, control of dynamical systems such as AUV's provides an exciting new topic of research that attracts the interest of students and can be used inside and outside the classroom to motivate fundamental learning and to introduce undergraduate and graduate students to innovative research. The goal of the proposed research is to develop a framework for synthesizing control laws to govern the motion of dynamical systems which have a reduced number of independent control inputs as compared to typical usage (also referred to as under-actuated dynamical systems). The reduction in control authority may be the inadvertent result of an actuator failure or the deliberate result of an economic design choice. Accordingly, this research will provide solutions for (1) improving system fault tolerance by exploiting built-in system redundancy and enabling systems to adapt to changes in control authority such as an actuator failure and (2) choosing the number and types of control actuators and actuator configurations in control system designs to best achieve desired performance results. The research is applicable to AUV's as well as to other systems including spacecraft, mobile robots and vibratory actuators. ***