The ACCOST project involves the integration of novel and ground-breaking results within the fields of nonlinear control systems, system identification and robotics. Therefore, the full extent of three years is required for the project fulfillment. The work of the ACCOST project is divided into five work packages.
- WP1 concerns the management of the entire project and all dissemination activities (exploitation of results, publicity events, etc.). The research and development part of the work comprises 4 work packages, which correspond to the key objectives described earlier.
- WP2 will provide the model information for the control design in WP3 and WP4, which is necessary to achieve increased levels of robustness and automatic control gain tuning.
- WP3 and WP4 will interact through the dependency and co-design of input constrained and output feedback control approaches respectively.
The interactions among these three WPs will be implemented and will in turn be integrated and demonstrated on the concrete scenarios described in WP5. Along the duration of the project, the tentative milestones with respect to the particular objectives are given as follows.
Milestone 1 (M18): We shall provide initial results on nonlinear system identification as well as on nonlinear observer-based control. In particular, initial elements of WP2 and WP4 will be integrated and demonstrated on the basis of the scenarios defined in WP5.
Milestone 2 (M27): We shall have further results on the fundamental limitations of nonlinear system identification and nonlinear observer-based control. Moreover, initial results on input constrained control design will also be given. We envision that this milestone will include the first attempt towards fully integrating WP2-WP4 in the application scenarios of the project.
Milestone 3 (M33): We shall have derived the overall control framework to handle input and feedback constraints for nonlinear dynamical systems. In this milestone, we aim at establishing and demonstrating at full extend the capabilities of the proposed methodology, with the focus lying on the selected application domains.
Deliverables
| No | Name | WP | Type | Dissemination | Due date |
| D1.1 | Project website | 1 | DEC | PU | M2 |
| D1.2 | Project results archived and available | 1 | DEC | PU | M36 |
| D2.1 | Reference trajectory generator | 2 | R + DEC | PU | M12 |
| D2.2 | Nonlinear system identification | 2 | R + DEC | PU | M24 |
| D3.1 | Control design under magnitude constraints | 3 | R + DEC | PU | M27 |
| D3.2 | Control design under slew-rate constraints | 3 | R + DEC | PU | M33 |
| D4.1 | Design of nonlinear observers | 4 | R + DEC | PU | M24 |
| D4.2 | Output feedback control design | 4 | R + DEC | PU | M30 |
| D5.1 | Scenarios Definition | 5 | R + DEC | PU | M12 |
| D5.2 | Milestone Demonstration 1 | 5 | R + DEM + DEC | PU | M18 |
| D5.3 | Milestone Demonstration 2 | 5 | R + DEM + DEC | PU | M27 |
| D5.4 | Milestone Demonstration 3 | 5 | R + DEM + DEC | PU | M33 |
| D5.5 | Assessment and Conclusions | 5 | R + DEC | PU | M36 |