Intelligent control system design based on hyper parallel computing with GPGPU cluster computer

为了开发基于GPGPU集群计算机超并行计算的高效控制器设计方法，我们研究了基于(1)不确定多项式的参数化方法、(2)SOS平方和方法、(3)双线性矩阵不等式优化、(4)异步粒子群优化的控制器设计方法。这些深入的研究取得了许多研究成果。为了评估所提出方法的有效性，我们在(a)移动机械手，(b)转向支持系统，(c)跳跃机器人，(d)可穿戴动力辅助系统和(e)被动行走上实施了所提出的控制系统。

To develop efficient controller design methods using hyper parallel computation with GPGPU cluster computer we studied design methods based on (1)Parametric approach for uncertain polynomials, (2) SOS(Sum-of-Square) approach, (3) Bilinear matrix inequality optimization, (4) Asynchronous particle swarm optimization. Many research results have been obtained with these intensive studies. To evaluate the effectiveness of the proposed methods, we implemented the proposed control system on (a) Mobile manipulator, (b) Steering support system, (c) Jumping robot, (d) Wearable power assist system, and (e) Passive walking.