Handling non-smooth effects in control of real robotic systems
Grant of the of the Romanian National Authority for Scientific Research, CNCS - UEFISCDI, project number PN-II-RU-TE-2014-4-0942
Robotics has a growing impact on our everyday life. Traditional applications are complemented by the integration of robots in the human environment. With the availability of low cost sensors, aerial robotics also became an active area of research. However, many of the practical challenges associated to the real time control of robotic systems are not yet resolved. Control of these systems requires methods that are able to reliably estimate variables of interest while compensating for sensor limitations and disturbances; and achieve the desired control objective in spite of limitations and significant changes in the model due to external effects.
The aim of this project is to develop novel methods and algorithms that can handle non-smoothness effects and nonlinearities and are practically applicable for the control and monitoring of robotic systems. Non-smoothness, e.g., actuator and variable saturation and singularities due to practical constraints frequently appear in robotic systems. We will build on and further develop state-of-the art methods for nonlinear control and estimation. To efficiently address the nonlinear dynamics and at the same time keep it in a natural form, Takagi-Sugeno models in descriptor form will be used. We focus on assistive robotics and aerial vehicles. Assistive robotics is motivated by the societal need of increasing the independence of elderly and disabled people. Aerial vehicles have numerous applications, such as surveillance or mapping.
Keywords: Takagi-Sugeno fuzzy models, saturation, robotic systems.
The publications resulting from this research can be found here.
ContactComments, suggestions, and questions concerning the research or the website are welcome. Please contact preferably Zsófia Lendek, or otherwise any of the other members of the project (see their respective websites for contact information).