CAREER: Utilizing Nonlinearity - Leverage to Global Synthesis of Inherently Nonlinear Systems

University Of Texas At San Antonio, San Antonio TX

Investigators

Abstract

In this project, we propose an intensive program to develop new controller design methodologies for a variety of inherently nonlinear systems, and to apply the findings to the control problems of underactuated mechanical systems, mobile robots with flex link, and other practical systems with various uncertainties. The systems under consideration do not have a controllable linearization that is a common requirement of existing control schemes. Therefore, most of the control problems for these systems are still open and indeed bring new challenges to the control engineering. In this project, we concentrate on the development of both theoretically sound and practically useful controller design schemes, which enable us to solve the difficult problems of global stabilization, adaptive regulation, and output feedback control, for inherently nonlinear systems that cannot be adequately controlled using the existing methods. Our primary approach relies on the adding a power integrator technique developed by the proposer and collaborators, which fully utilizes the nonlinearity of the systems to effectively control the inherently nonlinear systems. The recent research work based on this tool has led to new solutions to a number of control problems for systems with uncontrollable linearization, and suggests that very promising advances can be achieved by this research program. The educational component of this CAREER development plan aims at developing and reshaping courses, introducing innovative teaching techniques, mentoring undergraduate and graduate students, setting up new laboratories, and creating research-oriented projects and hands-on experiments. With all these efforts, we believe that the research program can be effectively integrated into the academic curriculum of the University of Texas at San Antonio. Moreover, while exposing the students to state-of-the-art techniques, the education plan will also help bridge the gap between theoretical research and engineering practice, and therefore stimulate students' interest in control engineering.