farshad khorrami professor of electrical & computer engineering

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

Khorrami@smart.poly.edu

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