报 告 人 Farshad Khorrami Polytechnic University

数学与系统科学研究院学术报告

报告题目： Recent advances in high-gain output feedback for nonlinear systems and applications to unmanned vehicles

报 告 人：Farshad Khorrami，Polytechnic University

时间地点：10：30-11：30，AM，July 21, Room 405,Siyuan Building

摘要：

In this talk, an overview of recent advances in nonlinear control based on a new dynamic high-gain scaling based design will be presented. This design technique has been shown to be a highly flexible design methodology providing a unified framework for both state-feedback and output-feedback control of nonlinear systems of both lower triangular (feedback) and upper triangular (feedforward) structures and also to some systems without any triangularity properties. Furthermore, the design paradigm provides considerable robustness to parametric uncertainties, appended dynamics, and additive noisedisturbances. The technique can be extended to adaptive and robust frameworks and also to decentralized control of large-scale systems.

A central ingredient in the dynamic high-gain scaling based design is the solution of particular pairs of coupled Lyapunov inequalities.An overview of other ongoing research activities at CRRL will be presented. These include applications to control of unmanned vehicles such as rotary-wing and fixed-wing aircraft, underwater vehicles, and surface ships. Our efforts in auto-pilot design and hardware-in-the-loop simulator for unmanned vehicles will be presented. Finally, a low-resource obstacle avoidance and path-planning system (GODZILA) for these unmanned vehicles will also be outlined.

报告人简介：

Farshad Khorrami received his Bachelors degrees in Mathematics and Electrical Engineering in 1982 and 1984 respectively from The Ohio State University. He also received his Master's degree in Mathematics and Ph.D. in Electrical Engineering in 1984 and 1988 from The Ohio State University. Dr. Khorrami is currently a professor of Electrical & Computer Engineering Department at Polytechnic University where he joined as an assistant professor in Sept. 1988. His research interests include robotics and automation, control systems with emphasis on nonlinear systems, unmanned vehicles (fixed-wing and rotary wing aircrafts as well as underwater vehicles and surface ships), smart structures, large-scale systems and decentralized control, adaptive control, and microprocessor based control and instrumentation. Prof. Khorrami has published more than 180 refereed journal and conference papers in these areas. His book on "modeling and adaptive nonlinear control of electric motors" was published by Springer Verlag in 2003. He also has twelve U.S. patents on novel smart micro-positioners and actuators, control systems, and wireless sensors and actuators. He has developed the Control/Robotics Research Laboratory at Polytechnic University. Prof. Khorrami has served as general chair and program committee member of several international conferences.