Discrete Event Supervisory Control and Nonlinear Motion Control for DoD and Industrial Systems.

摘要

This grant focuses on the design of advanced control systems for high performance Army vehicles and Autonomous Unmanned Vehicles (UAV/UGV). We focus on the inherent complexity and design challenges of achieving significant performance in short time intervals. Structured Nonlinear Network controllers are designed to significantly improve performance precision and speed of Army systems that have uncertain dynamics, disturbances, and control actuator limitations. On-line adaptive controllers are designed that converge to Optimal Control solutions with guaranteed performance.