| EPSRC Reference: |
GR/M47256/01 |
| Title: |
ROBUST MULTI-MODEL CONTROL WITH APPLICATION IN REHABILITATION ENGINEERING |
| Principal Investigator: |
Hunt, Professor K |
| Other Investigators: |
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| Project Partners: |
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| Department: |
Mechanical Engineering |
| Organisation: |
University of Glasgow |
| Scheme: |
Standard Research (Pre-FEC) |
| Starts: |
01 October 1999 |
Ends: |
30 September 2002 |
Value (£): |
191,158
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| Healthcare |
Information Technologies |
| Transport Systems and Vehicles |
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Summary on Grant Application Form |
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The proposed project is concerned with the development of robust nonlinear control methods based upon nonlinear plant descriptions of the multi-model type. The work will focus first on methods for robust nonlinear control design which exploit the information on model uncertainty which is contained within multi-model plant descriptions, and second on predictive control using this type of model.The main idea is to design several robust linear controller for families of models from the multi-model description. Robustness measures are used to determine the size of each family. The overall nonlinear controller is formed using a generalised form of gain scheduling to combine the local controllers.Compared with previous work the number of controllers can be greatly reduced and explicit robustness guarantees can be given. Moreover, the likelihood of scheduling-induced instability is much lower; this problem does not arise in the predictive control approach.The techniques to be developed will be generic and are believed to be applicable to a range of practical problems (previous results were applied in aut9motive engineering). To verify this assertion the project team will work with collaborators in the area of rehabilitation engineering. The practical relevance of the new approach will be evaluated in implementation trials.
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Key Findings |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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Potential use in non-academic contexts |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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Impacts |
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| Description |
This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk |
| Summary |
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| Date Materialised |
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Sectors submitted by the Researcher |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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| Project URL: |
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| Further Information: |
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| Organisation Website: |
http://www.gla.ac.uk |