Robotic Control and Nonlinear Systems Analysis

Edward Y.L. Gu

This research program has yielded outcomes in a number of interrelated domains including development of robot kinematic, dynamic formulations and control systems by geometric and topologic methods; a new robotic model for simplification of robotic control algorithms and its real-time realization;an optimal design criterion for robotic manipulators; a redundant robot arm with seven joints and designed its controller, hardware, interface and software with applications to automation. Related research has resulted in development of two classes of intelligent control strategies. The first is based on linguistics and automata technique with translation schemata, and rule-based systems The second is based on the applications of learning control, supervisory control schemes, neural networks, fuzzy logic and hierarchical intelligent control systems. Finally, this research program has focused on properties and characteristics of nonlinear systems, stability and stabilization, differential geometry methods for nonlinear control systems analysis and applications.

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