Laboratory for the Study of Robust and Adaptive Control Systems, Communications and Computations
This laboratory was established as part of a scientific research project supported with a monetary grant awarded by the Government of the Russian Federation under a grant competition designed to provide governmental support to scientific research projects implemented under the supervision of the world's leading scientists at Russian institutions of higher learning (Resolution of the RF Government No.220 of April 9, 2010).
Grant Agreement No.:
Name of the institution of higher learning:
Saint Petersburg National Research University of Information Technologies, Mechanics and Optics
Fields of scientific research:
Computer and Information Sciences
To establish a center of competence in the field of nonlinear, adaptive and robust control, communications and computations that accumulates and disseminates information about the latest achievements in modern robotic engineering and automatic control theory.
Project implementation outputs:
The project staff have investigated methods of analysis and synthesis of algorithms of adaptive control over linear and nonlinear dynamic systems, developed new methods of adaptive control over linear and nonlinear dynamic systems in the conditions of delay and channel limitations, and tested them on mechatronic and robotic complexes of various designations. The project staff have analyzed problems associated with exercising control over linear and nonlinear dynamic systems in the conditions of delay and channel limitations, developed new methods of exercising adaptive control over linear and nonlinear dynamic systems in the conditions of delay and channel limitations, conducted experimental research and tested the newly obtained results.
The project has helped develop a system of control over an unmanned multiple-rotor aircraft complete with a robotic manipulator. The method of linearization with reverse communication and synthesis of proportionally differential regulator taking into account changes of the inertia tensor, the position of mass centers, and compensation of reactive torque generated by the manipulator's dynamics were used as the aircraft control algorithm. The unmanned aircraft is implemented as a quadcopter with a flat two-link manipulator. The suggested algorithm ensures compensation of torque exerted by the manipulator against the quadcopter, and shifts the inertia tensor and position of the mass centers of the combined system. The outcomes of computer-assisted modeling confirm the operability and high effectiveness of the selected method.
The project has helped develop an algorithm of planning of optimal trajectories. This algorithm makes it possible to identify the most optimal - in terms of energy efficiency – motion trajectory of a kinematically redundant manipulator based on a path set within a three-dimensional space.
The project has helped developed methods of evaluating energy costs for the most common types of hydraulic actuators that used in robotic manipulators, including hydraulic actuators complete with a unilateral valve, hydraulic actuators with a bilateral valve, and hydraulic actuators complete with a regenerative switch.
The scientists have built variable-structure regulators for discrete multiple-actuator spatial monitoring systems. This contributes to the development of the methods of analysis and synthesis of linear stationary discrete systems with periodically changing coefficients.
The scientists have developed a new approach to exercising control over mobile robots. This approach entails nonlinear conversion of a mobile robot model to a system of objective-oriented coordinates. This makes it possible to reduce a complex multichannel task of control to a number of simple tasks of compensating linear and angular deviations and then use standard techniques of nonlinear stabilization to identify adequate control laws.
Full Name: Ortega Martinez Romeo Salvador
Link to the scientist's profile - missing
Academic degree and title:
Doctoral degree in Technical Sciences, Professor
Head of CENTRE NATIONAL DE LA RECHERCHE SCIENTIPHIQUE,
EUROPEAN EMBEDDED CONTROL INSTITUTE
Fields of scientific interests:
Fundamental and applied automatic control theory: nonlinear, adaptive and robust control, passification theory, remote control, synchronization of multiple-agent systems.
The leading scientist is one of the founders of the passification theory. He continues to supervise the development and application of the theory.