|29. September 2022
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Prof. Farshad Khorrami
Control/Robotics Research Laboratory (CRRL)
Department of Electrical & Computer Engineering
NYU Tandon School of Engineering (Polytechnic Institute)
New York University, USA
Thursday 2022-09-29 11:00
IST Seminar Room 2.255 - Pfaffenwaldring 9 - Campus Stuttgart-Vaihingen
In this talk, an overview of recent advances in nonlinear control based on 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 of some systems without any triangularity properties. Furthermore, the design paradigm provides considerable robustness to parametric uncertainties, appended dynamics, and additive noise disturbances. The technique can be extended to adaptive and robust frameworks and also to decentralized control of large-scale systems and delayed systems as well as systems with input unmodeled dynamics. A central ingredient in the dynamic high-gain scaling based design is the solution of particular pairs of coupled Lyapunov inequalities. To enhance efficient computation of non-conservative bounds with reduced algebraic complexity in dynamic high gain designs, we introduce a matrix pencil-based approach. The design freedoms in the dynamic controller are extracted in terms of generalized eigenvalues associated with matrix pencils formulated to capture the detailed structures (locations of uncertain terms in the system dynamics and their state dependencies) of system uncertainties and resulting bounds in the Lyapunov analysis. Thereafter, we show the efficacy of dynamic high gain design in prescribed-time control of nonlinear systems (i.e., achieving convergence within an arbitrary designer-specified “ prescribed” time). Lastly, an overview of some of our other research will be presented as well.
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 NYU where he joined as an assistant professor in Sept. 1988. His research interests include system theory and nonlinear controls, robotics, machine learning, cyber physical system security, autonomous unmanned vehicles, embedded system security, and large-scale systems and decentralized control. Prof. Khorrami has published more than 300 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 fourteen U.S. patents on novel smart micro-positioners and actuators, embedded system security, and wireless sensors and actuators. He has developed and directed the Control/Robotics Research Laboratory at Polytechnic University (Now NYU) and Co-Director of the Center for Artificial Intelligence and Robotics at NYU Abu Dhabi. His research has been supported by the Army Research Office, National Science Foundation, Office of Naval Research, DARPA, Dept. of Energy, Sandia National Laboratory, Army Research Laboratory, Air Force Research Laboratory, NASA, and several corporations. Prof. Khorrami has served as general chair and conference organizing committee member of several international conferences. He has also commercialized UAVs as well as development of auto-pilots for various unmanned vehicles.