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A computational framework for contro...

Wei, Shangming.

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A computational framework for controller design for hybrid robotic systems.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	A computational framework for controller design for hybrid robotic systems./
作者:	Wei, Shangming.
面頁冊數:	143 p.
附註:	Adviser: Milos Zefran.
Contained By:	Dissertation Abstracts International69-05B.
標題:	Engineering, Electronics and Electrical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3316777
ISBN:	9780549656371

A computational framework for controller design for hybrid robotic systems.
Wei, Shangming.

A computational framework for controller design for hybrid robotic systems. - 143 p.

Adviser: Milos Zefran.

Thesis (Ph.D.)--University of Illinois at Chicago, 2008.

In this dissertation several formal methods for design and control of hybrid robotic systems are proposed. The aim is to guarantee the system's safety and performance.

ISBN: 9780549656371Subjects--Topical Terms:

626636
Engineering, Electronics and Electrical.

A computational framework for controller design for hybrid robotic systems.
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100 1 $a Wei, Shangming. $3 1030451
245 1 2 $a A computational framework for controller design for hybrid robotic systems.
300 $a 143 p.
500 $a Adviser: Milos Zefran.
500 $a Source: Dissertation Abstracts International, Volume: 69-05, Section: B, page: 3196.
502 $a Thesis (Ph.D.)--University of Illinois at Chicago, 2008.
520 $a In this dissertation several formal methods for design and control of hybrid robotic systems are proposed. The aim is to guarantee the system's safety and performance.
520 $a First, a new formal procedure for designing behaviors of autonomous robots is developed. Desired safety and performance can be realized by imposing a formal hierarchy among controllers which is based on partial orders. Compared with other current approaches of hybrid systems design, the approach offers possibilities of simplified design, reduced complexity, guaranteed safety and performance.
520 $a The design of behavior switchings for robotic systems can also be formulated as a hybrid optimal control problem. In general hybrid optimal control problem is hard because it involves combinatorial complexity. In the second part, an extension of a recently developed embedding technique and model predictive control are used to solve the optimal control problem for a class of hybrid robotic systems with switching dynamics. By utilizing the embedding technique, the hybrid optimal control problem is reduced to a traditional smooth optimal control problem, so the solution methodology only involves traditional nonlinear programming techniques.
520 $a In robotic systems, hybrid behavior is often also caused by the interaction between continuous control and logic rules. In the third part, a new method is proposed to solve the optimal control problem of robotic systems with logical constraints. Logical expressions are converted into inequalities and equalities involving only continuous variables. In this way, combinatorial complexity due to 0-1 valued logical variables is effectively eliminated and the resulting problem is smooth.
590 $a School code: 0799.
650 4 $a Engineering, Electronics and Electrical. $3 626636
650 4 $a Engineering, Robotics. $3 1018454
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710 2 $a University of Illinois at Chicago. $3 1020478
773 0 $t Dissertation Abstracts International $g 69-05B.
790 $a 0799
790 1 0 $a Zefran, Milos, $e advisor
791 $a Ph.D.
792 $a 2008
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