Title: Recent advances in nonlinear output feedback and applications to unmanned vehicles

Speaker: Farshad Khorrami, Six Metrotech Center, Polytechnic University

 Date/Time: Wednesday, May 25, 2005, 11:00-12:00 noon  

Location: Building 980, Room 95 (Sandia NM)

Brief Abstract: 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 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 both state feedback and output feedback results and can be extended to adaptive and robust frameworks and also to decentralized control of large-scale systems. The power of the design approach has been demonstrated through output feedback designs for nonlinear systems with unknown parameters coupled with unmeasured states and with appended Input-to-State Stable (ISS) dynamics driven by all states. A central ingredient in the dynamic high-gain scaling based design is the solution of particular pairs of coupled Lyapunov equations.

CSRI POC: David Schoenwald, (505) 284-6285