NONLINEAR CONTROL OF MECHANICAL AND AEROSPACE SYSTEMS
Dr. Mahmut Reyhanoglu
This talk summarizes important research results on the control of constrained and underactuated dynamical systems. The results are applied to mechanical systems with nonintegrable kinematic constraints, such as wheeled mobile robots, and to mechanical systems with nonintegrable motion invariants, such as internally actuated space robots (analogous to falling cats and Heisenberg's flywheel). The results are also applied to underactuated spacecraft, autonomous boats and robot manipulators, which constitute important examples of underactuated mechanical systems. In this talk, we summarize a number of important control design methodologies developed for the control of these systems, including the geometric phase (analogous to Berry's phase in quantum mechanics) method and the sigma process approach. We also briefly discuss the design of tracking control algorithms using switched feedback and cascaded back-stepping approaches. The effectiveness of these control methods is demonstrated through MATLAB animations and movies of controlled motions of the above-mentioned physical examples.
Mahmut Reyhanoglu received the Ph.D. degree in aerospace engineering from the University of Michigan, Ann Arbor, Michigan, in 1992. He is currently a Professor of Engineering Physics at Embry-Riddle Aeronautical University, Daytona Beach, Florida. His major research interests are in the areas of nonlinear dynamics, controls, and robotics, with particular emphasis on application to mechanical and aerospace systems.
Dr. Reyhanoglu served on the IEEE Transactions on Automatic Control Editorial Board as an Associate Editor from 2001 to 2007, on the IEEE Control Systems Society Conference Editorial Board as an Associate Editor from 1996 to 2001, and on AIAA Guidance, Navigation, and Control Technical Committee as a member from 1999 to 2002. He also served as International Program Committee member for several conferences, including the 1998 IFAC Conference on Nonlinear Control System Design (NOLCOS98) and the 2001 IEEE Conference on Decision and Control.