This research project deals with design and implementation of time-delay control theory for linear and nonlinear systems. The technique combines parametric adaptation, past observations to directly estimate the effect of plant dynamics, state feedback and command feedforward signals to achieve proper command following. The basic function of the controller is to observe the system present, and delayed input and output responses at each sampling time, and then modify the control actions directly rather than using a model-based forward term or adjusting controller gains as is commonly done in other methods. The results of this research could potentially benefit control of systems with unknown dynamics and unpredictable disturbances such as undersea vehicles and robotic manipulators. In addition, significant contributions could be made to the areas of learning control and intelligent control also.*** //

Agency
National Science Foundation (NSF)
Institute
Division of Civil, Mechanical, and Manufacturing Innovation (CMMI)
Application #
9114595
Program Officer
Devendra P. Garg
Project Start
Project End
Budget Start
1992-10-01
Budget End
1996-03-31
Support Year
Fiscal Year
1991
Total Cost
$180,000
Indirect Cost
Name
Massachusetts Institute of Technology
Department
Type
DUNS #
City
Cambridge
State
MA
Country
United States
Zip Code
02139