Farshad Khorrami Professor of Electrical & Computer Engineering
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Transcript of Farshad Khorrami Professor of Electrical & Computer Engineering
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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
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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
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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
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Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
Decentralized Control for Large-Scale Interconnected Systems
System
Channel i Control
Subsystem i
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Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
Autonomous Unmanned Vehicles
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Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
A Two-Dimensional Step Motor (Sawyer Motor)
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Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
TriM: Tripod ManipulatorAn Ultra-Accurate High Speed 6DOF Direct Drive Robot
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Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
A 3-DOF Semi-Active Launch Isolator
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Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
Active Damping on Beam Structures
Piezoceramic Actuation
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Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
Smart Barrel Actuators
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Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
Wireless Communication in Smart Structures Via Micro-Strip Antennas
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Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
A Two-Link Flexible Manipulator
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Control/Robotics Research Laboratory (CRRL)
Farshad Khorrami (10/5/04)
A Subsystem of a Robotic Inspection System