Project

Control architecture design for physical dynamic systems

Code
bof/baf/4y/2024/01/811
Duration
01 January 2024 → 31 December 2025
Funding
Regional and community funding: Special Research Fund
Research disciplines
  • Engineering and technology
    • Motion planning and control
    • Physical system modelling
    • Robot manipulation and interfaces
    • Robotic systems architectures and programming
    • Sensing, estimation and actuating
    • Signals and systems
Keywords
electromechanical systems inverse problems system modeling robotics control dynamical systems
 
Project description

The human engineered control architectures have evolved towards classical stabilization (feedback control) and feedforward (trajectory planning) loops that are “put together” to perform the control task. These architectures come in many forms and a general theory is lacking on how to setup such control architectures that can work in a reliable manner across various spatiotemporal scales. A starting point for such theory is the fundamental aspect of what control is, namely the child of two parents: algorithmics and physics. There is no other discipline where both come so close together. Using physics-based and data-driven models we can understand how to interact with the actual physics, using algorithmics we can drive the physics to perform tasks. In this project we aim to develop methodologies that can design control architectures to accommodate for multi-rate dynamics. The coupling between feedback control and feedforward control is studied and how their coupling can be mathematically derived, inversely, starting from known models and control algorithms. We will apply and validate these concepts on robot quadruped tasks and robotic manipulation tasks.