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Farshad Khorrami Professor of Electrical & Computer Engineering

Farshad Khorrami Professor of Electrical & Computer Engineering Control/Robotics Research Laboratory (CRRL) http://crrl.poly.edu Five Metrotech Center Polytechnic University Brooklyn, New York 11201 Khorrami@smart.poly.edu October 5, 2004. Nonlinearity – An Ubiquitous Phenomenon.

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Farshad Khorrami Professor of Electrical & Computer Engineering

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  1. Farshad Khorrami Professor of Electrical & Computer Engineering Control/Robotics Research Laboratory (CRRL) http://crrl.poly.edu Five Metrotech Center Polytechnic University Brooklyn, New York 11201 Khorrami@smart.poly.edu October 5, 2004 Control/Robotics Research Laboratory (CRRL)

  2. 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)

  3. 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)

  4. Decentralized Control for Large-Scale Interconnected Systems System Subsystem i Channel i Control Control/Robotics Research Laboratory (CRRL)

  5. Autonomous Unmanned Vehicles Control/Robotics Research Laboratory (CRRL)

  6. A Two-Dimensional Step Motor (Sawyer Motor) Control/Robotics Research Laboratory (CRRL)

  7. TriM: Tripod ManipulatorAn Ultra-Accurate High Speed 6DOF Direct Drive Robot Control/Robotics Research Laboratory (CRRL)

  8. A 3-DOF Semi-Active Launch Isolator Control/Robotics Research Laboratory (CRRL)

  9. Active Damping on Beam Structures Piezoceramic Actuation Control/Robotics Research Laboratory (CRRL)

  10. Smart Barrel Actuators Control/Robotics Research Laboratory (CRRL)

  11. Wireless Communication in Smart Structures Via Micro-Strip Antennas Control/Robotics Research Laboratory (CRRL)

  12. A Two-Link Flexible Manipulator Control/Robotics Research Laboratory (CRRL)

  13. A Subsystem of a Robotic Inspection System Control/Robotics Research Laboratory (CRRL)

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