Controller Design for Systems with Unknown Nonlinear        Dynamics
{'Code': '07030000', 'Directorate': {'Abbreviation': 'ENG', 'LongName': 'Directorate For Engineering'}, 'Division': {'Abbreviation': 'CMMI', 'LongName': 'Div Of Civil, Mechanical, & Manufact Inn'}}
{'SignBlockName': 'Elbert L. Marsh', 'PO_EMAI': None, 'PO_PHON': None}
The project goal is the development of a controller design for                  systems  with unknown nonlinear dynamics.  The method differs                   from current  methods including adaptive control, variable                      structure control, and  learning control.  For this concept, at                 each sampling time the system  response (position, velocity, and                acceleration) is observed and used  directly to modify controller               actions rather than to adjust the  controller gains as is the                   case for the other methods.  Preliminary  investigations indicate               that the proposed concept has promise.  The  project formulates                 the fundamentel concept, examines stability, and also the                       hardware implementation of the controller.  The concept is tested               on  a robot manipulator at the MIT Laboratory for Manufacturing                 and Productivity.
{'FirstName': 'Kamal', 'LastName': 'Youcef-Toumi', 'PI_MID_INIT': None, 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'Kamal Youcef-Toumi', 'EmailAddress': 'youcef@MIT.EDU', 'PI_PHON': '6172532216', 'NSF_ID': '000284066', 'StartDate': '02/15/1987', 'EndDate': None, 'RoleCode': 'Principal Investigator'}
{'Name': 'Massachusetts Institute of Technology', 'CityName': 'CAMBRIDGE', 'ZipCode': '021394301', 'PhoneNumber': '6172531000', 'StreetAddress': '77 MASSACHUSETTS AVE', 'StreetAddress2': None, 'CountryName': 'United States', 'StateName': 'Massachusetts', 'StateCode': 'MA', 'CONGRESSDISTRICT': '07', 'CONGRESS_DISTRICT_ORG': 'MA07', 'ORG_UEI_NUM': 'E2NYLCDML6V1', 'ORG_LGL_BUS_NAME': 'MASSACHUSETTS INSTITUTE OF TECHNOLOGY', 'ORG_PRNT_UEI_NUM': 'E2NYLCDML6V1'}
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{'Code': '1445', 'Text': 'DYNAMICS & CONTROL'}
{'url': 'https://www.nsf.gov/awardsearch/download?DownloadFileName=1987&All=true', 'xml': '8702839.xml'}