CAREER: Robust and Optimal Control of Nonlinear Mechanical Systems with Rotating Components

9624188 Tsiotras这个职业生涯项目整合了非线性系统的动力学和控制的研究和教育方面。 具体而言，一类特殊的非线性系统，即那些旋转组件的重点。各种各样的工程系统，如飞机、机器人、车床、铣床和水下航行器都属于这一类。所选择的系统的动力学和运动学进行了深入的分析，包括有效的建模系统方程，稳定和最优控制的每个子系统，在子系统级的单个控制器合成为一个完整的控制器为原始系统，和控制器的执行下执行器/传感器故障。研究结果在旋转机械和控制（ROMAC）实验室进行了实验验证。教育活动包括在本科生和研究生一级开设新课程，参加少数民族辅导方案，在当地学校开展外联活动，以及为研究和教学建立一个动力学和控制实验室。

9624188 Tsiotras This CAREER project integrates the research and educational aspects of dynamics and control of nonlinear systems. Specifically, a special class of nonlinear systems, namely those with rotating components is emphasized. A wide variety of engineering systems such as aircrafts, robots, lathes, milling machines, and underwater vehicles fall in this category. An in depth analysis of the dynamics and kinematics of the chosen system is carried out including effective modeling of system equations, stabilization and optimal control of each subsystem, synthesis of individual controllers at the subsystem level into a complete controller for the original system, and controller implementation under actuator/sensor failure. The research results are verified experimentally in the rotating machinery and controls(ROMAC)laboratory. The educational activities include introduction of new courses at the undergraduate and graduate levels, participation in a minority mentoring program, outreach activities at local schools, and development of a dynamics and controls laboratory for both research and teaching.***