Research Initiation Award: Establishment of an Integrated Analysis, Control Design and Implementation Framework for Hybrid Dynamical Systems with Constraints

研究启动奖为历史悠久的黑人学院和大学的初级和职业生涯中期教师提供支持，这些教师正在建立新的研究计划或重新定向和重建现有的研究计划。预计该奖项有助于进一步提高教师的研究能力和有效性，改善其所在机构的研究和教学，并让本科生参与研究经验。授予Prairie View A&Amm大学这一奖项可能会在多个领域产生更广泛的影响。该项目的目标是建立一个具有约束的混合动力系统的集成分析、控制设计和实现框架。这类系统包含丰富的动力学，可用于模拟一大类物理系统，如机器人系统、先进制造系统和药物对基因网络的影响。本科生将获得研究经验，这项研究将整合在许多机械工程课程中。研究的目标是研究混合动力系统的理论、工程和应用，这些系统受到各种约束，如执行器非线性、对参数不确定性的鲁棒性和实现数字控制时的硬件限制。混杂动态系统具有连续系统动力学和离散事件动力学相互作用的特点。对于这样的复杂系统，经常引入保守性，例如，为了提供凸控制综合条件或降低计算复杂性。为了避免引入这种保守性，将通过开发和发明各种建模和控制器结构来创建和集成高效的分析和控制综合算法。建立了一种新型欠驱动平台，对一类混杂动力系统的分析和控制方法进行了实验验证。通过这个实验平台，还将研究执行器非线性、摩擦、测量噪声和量化等实际问题，以增强和扩展理论框架。

Research Initiation Awards provide support for junior and mid-career faculty at Historically Black Colleges and Universities who are building new research programs or redirecting and rebuilding existing research programs. It is expected that the award helps to further the faculty member's research capability and effectiveness, improves research and teaching at his home institution, and involves undergraduate students in research experiences. The award to Prairie View A&M University has potential broader impact in a number of areas. The goal of the project is to establish an integrated analysis, control design and implementation framework for hybrid dynamical systems with constraints. Such systems contain rich dynamics that can be used to model a large class of physical systems such as robotic systems, advanced manufacturing systems and drug effects to gene networks. Undergraduate students will gain research experiences and the research will be integrated in a number of mechanical engineering courses.The goal of the research is to investigate the theory, engineering, and application of hybrid dynamical systems subjected to various constraints such as actuator nonlinearities, robustness against parameter uncertainties and limitations on hardware when implementing digital controls. Hybrid dynamical systems are characterized by the interaction of continuous system dynamics and discrete event dynamics. Conservatism is often introduced for such complex systems in order to, for example, render convex control synthesis conditions or reduce computational complexity. To avoid introducing such conservatism, efficient analysis and control synthesis algorithms will be created and integrated through exploiting and inventing various modeling and controller structures. A novel underactuated platform will be built to experimentally validate and verify the analysis and control method for a subclass of hybrid dynamical systems. Through this experiment platform, practical issues such as actuator nonlinearities, friction, measurement noise and quantization will also be investigated to enhance and expand the theoretical framework.