farshad khorrami professor of electrical & computer engineering
DESCRIPTION
Farshad Khorrami Professor of Electrical & Computer Engineering Control/Robotics Research Laboratory (CRRL) http://crrl.poly.edu Five Metrotech Center Polytechnic University Brooklyn, New York 11201 [email protected] October 5, 2004. Nonlinearity – An Ubiquitous Phenomenon. - PowerPoint PPT PresentationTRANSCRIPT
Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
Farshad Khorrami
Professor of Electrical & Computer EngineeringControl/Robotics Research Laboratory (CRRL)
http://crrl.poly.eduFive Metrotech CenterPolytechnic University
Brooklyn, New York 11201
October 5, 2004
Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
Nonlinearity – An Ubiquitous Phenomenon
• Dynamical Nonlinearities
• Actuator/Sensor Nonlinearities
- Hysteresis
- Deadzone
- Backlash
- Saturation
- Input Unmodeled Dynamics
• State Constraints
• Time Delays : Time-Varying, State-Dependent
Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
Nonlinear Control Research Directions Theoretical and Experimental
• Stabilization
• Tracking
• Disturbance Attenuation
• Adaptive Control
• Robust Control
• Output-Feedback
• Decentralized Control for Large-Scale Systems
• Applications: AUV, Motors/Actuators, Robotics, etc.For publications on the above and other topics, refer to
http://crrl.poly.edu
Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
Decentralized Control for Large-Scale Interconnected Systems
System
Channel i Control
Subsystem i
Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
Autonomous Unmanned Vehicles
Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
A Two-Dimensional Step Motor (Sawyer Motor)
Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
TriM: Tripod ManipulatorAn Ultra-Accurate High Speed 6DOF Direct Drive Robot
Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
A 3-DOF Semi-Active Launch Isolator
Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
Active Damping on Beam Structures
Piezoceramic Actuation
Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
Smart Barrel Actuators
Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
Wireless Communication in Smart Structures Via Micro-Strip Antennas
Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
A Two-Link Flexible Manipulator
Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
A Subsystem of a Robotic Inspection System