Development Methodology for Design and Implementation of Advanced Controllers for Vibratory Weapon Systems

Period of Performance: 03/06/1995 - 09/06/1995


Phase 1 SBIR

Recipient Firm

Adaptive Robotics, Inc.
268 Petticoate Lane
Bloominburg, NY 12721
Principal Investigator


New developments in materials and components create a need for more effective controllers for flexible, lightweight, high-performance systems in DoD, industry, civil infrastructure, and space applications. Included are automated loading and material handling systems, tank flexible gun barrels, vibration and oscillation in automobiles, bridges, and overhead cranes. The control problems associated with such structures are difficult, as they do not satisfy assumptions required for existing control algorithms to work well. Moreover, existing commercial and DoD controllers are inflexible, hard to program, and difficult to port between systems platforms and varying control objectives. The goal of this proposal is to provide a Unified Design and Real-Time Implementation Methodology for advanced controllers for complex vibratory systems. Modern controls developments will be included in nonlinear, feedback linearization, adaptive, neural network and fuzzy logic control. There are three specific objectives - to provide: A Unified Design Methodology for Advanced Control Algorithms. Specific Control Laws for a Nominal Nonlinear Vibratory System. Specifications for a PC-based Modular Real-Time Control System. Adaptive Robotics, Inc., and UTA's Robotics Institute provide strong industry connections for dual-use commercialization of this Army controller R&D.