Motion planning for energy management in autonomous vehicles. Final report, 1 September 1994-31 August 1997
This report provides a technical overview of research supported under an AASERT (Augmentation Awards for Science and Engineering Research Training) grant administered by the U.S. Air Force Office of Scientific Research. The grant was tied to a parent grant AFOSR-90-0226 and its follow-on F49620-96-1-0059, both of which bear the title `The Nonlinear Control Theory of Complex Mechanical Systems`. The period of performance of the subject ASSERT grant was Sep 94 through Aug 97. Funds from this grant were used to support the PhD thesis research of Geoffrey Howell as stipulated in the original proposal submitted in the Fall of 1993. Mr. Howell is expected to finish his dissertation and all degree requirements this year. The research described in this report (and which will be reported in greater detail in Geoff Howell`s dissertation) is concerned with two interrelated themes in the control of super-actuated (or underactuated) mechanical systems: (1) how to control the degrees of freedom which are directly actuated without eliciting undesired behavior in the unactuated degrees of freedom, and (2) how to prescribe motions of the directly actuated degrees of freedom to achieve motion objectives for the degrees of freedom which are not directly controlled.
- Research Organization:
- Boston Univ., MA (United States). Dept. of Aerospace and Mechanical Engineering
- OSTI ID:
- 600719
- Report Number(s):
- AD-A-337010/3/XAB; CNN: Contract F49620-94-1-0414; TRN: 81030786
- Resource Relation:
- Other Information: PBD: 31 Oct 1997
- Country of Publication:
- United States
- Language:
- English
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