CONTROL RESEARCH LABORATORY
1995 ACTIVITY REPORT
DEPARTMENT OF ELECTRICAL ENGINEERING
The Ohio State University
2015 Neil Avenue
Columbus, OH 43210, U.S.A.
1. INTRODUCTION
2. ASSOCIATED FACULTY
3. STUDENTS
4. FACILITIES
5. RESEARCH PROJECTS
6. SUPPORTING AGENCIES
7. PUBLICATIONS
1. INTRODUCTION
The Control Research Laboratory was established in the Department of Electical
Engineering to provide visibility for the efforts in research in the systems
and control area, to provide coordination and to pool the available resources,
especially in application-oriented work.
There is active research in many areas of theoretical and applied control
being carried out in the Control Research Laboratory. The following is a
brief list of these areas:
- Modeling of biped locomotion, stability, constrained motion
- Theoretical and applied large-scale systems: traffic, energy control and
large space structures
- Vehicle dynamics and control
- Intelligent vehicle highway systems/intelligent transportation systems,
including automated highway systems
- Theoretical studies on linear systems and theory of servomechanisms and
decentralized compensators
- Robotics, manipulator control and walking machines
- Microprocessor-based, applied digital control
- Control of lightweight flexible manipulator systems
- Studies on multi-processor implementation of data acquisition, simulation
algorithms and control algorithms
- Discrete event systems: optimal control, stability, temporal logic, Petri
nets
- Manufacturing systems: pick and place operations, multi-manipulator control
in work cells, modeling and optimal control of manufacturing systems
- System identification and adaptive control theory
- Modern frequency domain control synthesis techniques — H• control
- Studies on robustness and sensitivity of welding process control systems
- Robust control of distributed parameter (infinite dimensional) systems
- Intelligent and autonomous control systems: theory of hierarchical systems,
techniques from artificial intelligence, planning and expert systems, and
heuristic search
- Neural networks and their use in the control of systems
- Fuzzy systems and control: nonlinear analysis, supervisory fuzzy control,
fuzzy PID tuning, adaptive fuzzy systems, fuzzy system identification
- Scheduling flexible manufacturing systems
- Genetic algorithms for adaptive identification and control
- Wavelet theory, multiresolutional representation and use in control design
- Sliding mode control in electromechanical systems (electric motors and
alternators, motion control)
To carry out research in the above areas the Control Research Laboratory
has extensive experimental facilities and computer resources. Foremost among
these is a computer facility through which control algorithms can be implemented
in real-time. Other resources of the Department of Electrical Engineering,
especially in microprocessor based controller development, and CAD software
on the main-frame computer, are also available.
Responding to recent research interests of faculty, a hardware facility
has evolved for performing modeling, identification and control experiments
on flexible mechanical structures. A series of fully instrumented experiments
have been set up for active vibration damping in flexible structures and
for endpoint position control in one and two-link lightweight flexible robot
arms.
Students interested in automotive work can also perform experiments on the
fully instrumented OSU-Autonomous Vehicle, through the Center for Intelligent
Transportation Research. The vehicle has electrical steering, throttle control
and braking capability providing full computer control, and interfacing
to vision and radar systems.
Another activity that members of the Control Research Laboratory have been
involved in since 1983 is the O.S.U. Control Workshop. This workshop was
an annual event until 1994. Starting 1996 it will be held every other year.
It is a two-day gathering of control groups from universities in Ohio and
neighboring states, and from local industry. It provides an informal exchange
of ideas and recent developments in control research and is particularly
geared toward involvement of graduate students. Recent meetings have typically
involved about 80 participants from various universities including Air Force
Institute of Technology, Carnegie Mellon University, Case Western University,
Cleveland State University, University of Cincinnati, Indiana University,
University of Illinois, University of Michigan, Michigan State University,
University of Notre Dame, University of Pittsburgh, Purdue University, University
of Toledo, Virginia Polytechnic Institute and State University, Washington
University, and Wayne State University.
Members of the Control Research Laboratory in the Department of Electrical
Engineering have through the years enjoyed increased cooperation with faculty
in the control area in other departments of OSU and a number of joint research
efforts have developed. As a result, in 1985, The Ohio State University
awarded a grant for the establishment of an Interdepartmental Control Research
Center. The Control Research Laboratory forms the nucleus for this endeavor.
Members of the Control Research Laboratory have also been active in off-campus
educational activities and have run highly popular tutorial courses for
industry on Sliding Mode Control, Fuzzy Control, and various aspects of
Automotive Systems.
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2. ASSOCIATED FACULTY
Department of Electrical Engineering
Prof. Jose B. Cruz Jr. Office: 152 Hitchcock, Ph: 292-2936
Ph.D., University of Illinois jbcruz@magnus.acs.ohio-state.edu
Prof. Robert E. Fenton (emeritus) Office: 208 Dreese Lab Ph: 292-4310
Ph.D., The Ohio State University (1965) fenton@ee.eng.ohio-state.edu
Prof. Hooshang Hemami Office: 203 Caldwell Lab Ph: 292-2848
Ph.D., The Ohio State University (1966) hemami@ee.eng.ohio-state.edu
Prof. Robert J. Mayhan (emeritus) Office: 212 Dreese Lab Ph: 292-0495
Ph.D., Purdue University (1966) mayhan@ee.eng.ohio-state.edu
Prof.Hitay Özbay Office: 404 Dreese Lab Ph: 292-1347
Ph.D., University of Minnesota (1989) ozbay@ee.eng.ohio-state.edu
Prof. Ümit Özgüner Office: 412 Dreese Lab Ph: 292-5940
Ph.D., University of Illinois (1975) ozguner.1@osu.edu
Prof. Kevin M. Passino Office: 416 Dreese Lab Ph: 292-5716
Ph.D., University of Notre Dame (1989) passino@ee.eng.ohio-state.edu
Prof. Vadim Utkin Office: 460 Dreese Lab Ph: 292-6115
Ph.D.,Institute of Control Sciences, utkin@ee.eng.ohio-state.edu
Moskow (1964)
Prof. Stephen Yurkovich Office: 408 Dreese Lab Ph: 292-2586
Ph.D., University of Notre Dame (1984) yurkovich@ee.eng.ohio-state.edu
Prof. Yuan F. Zheng Office: 664 Dreese Lab Ph: 292-2571
Ph.D., The Ohio State University (1984) zheng@ee.eng.ohio-state.edu
Research Associate
Dr. K.A. Ünyelioglu Office: 405 Dreese Lab Ph: 292-4530
Ph.D., Bilkent University, Ankara (1992) unyeli@ee.eng.ohio-state.edu
ASSOCIATED FACULTY IN OTHER DEPARTMENTS
Aeronautical & Astronautical Engineering
Prof. Hayrani Öz Office: 320G Bolz Hall Ph: 292-3843
Ph.D., VPI & State University (1979) oz.1@osu.edu
Prof. Rama K. Yedavalli Office: 320F Bolz Hall Ph: 292-3983
Ph.D., Purdue University (1981) yedavalli.1@osu.edu
Chemical Engineering
Prof. James F. Davis Office: 1224 Kinnear, 350K Ph: 292-6553
Ph.D., Northwestern University (1981) jfdavis@osu.edu
Prof. Bhavik R. Bakshi Office: 421C Koffolt Ph: 292-4904
Ph.D., M.I.T. (1992) bakshi.2@osu.edu
Computer and Information Sciences
Prof. Judith Gardiner Office: 481 Dreese Lab Ph: 292-8658
Ph.D., U. California, Santa Barbara (1988) gardiner.1@osu.edu
Prof. Feng Zhao Office 582 Dreese Lab Ph: 292-1553
Ph.D., MIT (1992) fz@cis.ohio-state.edu
Mathematics
Prof. Bostwick F. Wyman Office: 706 Math Tower Ph: 292-4901
Ph.D., U. of California,Berkeley (1966) wyman@math.ohio-state.edu
Mechanical Engineering
Prof. K. (Cheena) Srinivasan Office: 2051 Robinson Lab Ph: 292-0503
Ph.D., Purdue University (1976) srinivasan.3@osu.edu
Prof. Giorgio Rizzoni Office: 2049 Robinson Lab Ph: 292-3331
Ph.D., University of Michigan (1986) rizzoni.1@osu.edu
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3. STUDENTS
Current Graduate Students
Alifya Chinwala, MS student, Advisors: G. Rizzoni and V. Utkin
Research topic: Air/fuel ratio control.
Jin Changxi, PhD student, Advisor: Ü. Özgüner, Office CL
362
Research topic: Hybrid Systems.
Dan Clancy, PhD student, Advisor: Ü. Özgüner, Office CL 349
Research topic: Wavelets for multiresolutional controller design —
neural networks.
De-Shiou Chen, PhD student, Advisor: V. Utkin
Research topic: Sliding mode control of electric alternators.
Inho Choi, MS student, Advisor: H. Hemami
Research topic: Control of a three-link sagittal robot with transmission
delays.
Behzad Dariush, PhD student, Advisor: H. Hemami, Office CL 309
Research topic: Industrial vision systems.
Jim Gremling, MS student, Advisor: K. Passino, Office CL 332
Research topic: Genetic adaptive estimation and identification with applications
to AHS.
Ibrahim Haskara, MS student, Advisor: Ü. Özgüner, Office
CL 350
Research topic: Control of convoying using sliding mode control.
Cem Hatipoglu, PhD student, Advisor: Ü. Özgüner, Office CL
364
Research topic: Control problems in AHS, sliding mode control and other
techniques.
Juliet Hurtig, PhD student, Advisor: S. Yurkovich, Office CL352
Research topic: Parameter set estimation for nonlinear systems.
L.J. Jalics, Ph.D. student, Advisor: H. Hemami, Office CL 341
Research topic: Adaptive bipedal locomotion.
Jung Soo Kim, MS Student, Advisor: H. Hemami, Office CL 341
Research topic: Suspended platform dynamics and control.
Jeffrey Layne, PhD student, Advisor: K. Passino, Office CL351
Research topic: Fuzzy dynamical systems with applications to avionics.
Bill Leisenring, MS student, Advisor: S. Yurkovich, Office CL365
Research topic: Automotive engine control.
Layne Lenning, PhD student, Advisor: Ü. Özgüner, Office CL
330
Research topic: Modeling and vibration control for flexible structures.
Will Lennon, MS student, Advisor: K. Passino, Office CL351
Research topic: Genetic adaptive control with applications to brake control
and AHS.
Seth Lytle, MS student, Advisor: Ü. Özgüner, Office CL 350
Research topic: Brake and engine control for an AHS demonstration.
Hazem Nounou, MS student, Advisor: K. Passino, Office CL332,
Research topic: Adaptive fuzzy systems with industrial applications.
Raul Ordonez, MS student, Advisor: K. Passino, Office CL338
Research topic: Adaptive fuzzy/neural control.
Shymala Raghunathan, MS student, Advisor: Ü. Özgüner, Office
CL 330
Research topic: Design of passive mechanical components via optimal control.
A. Rahimi, MS student, Advisor: H. Hemami, Office CL 341
Research topic: Design and control of a cable-driven suspended platform.
Keith Redmill, PhD student, Advisor: Ü. Özgüner, Office CL
349
Research topic: Petri-net and automata modeling of functional hierarchies
for AHS applications.
P.D. Reeder, MS student, Advisor: H. Hemami
Research topic: Design, simulation, and control of a three legged robot.
M.R. Sherkat, PhD student, Advisor: H. Hemami, Office CL 341
Research topic: Postural and vestibular control
M. Sikora, Ph.D. student, Advisor: J.B. Cruz Jr., Office CL 362
Research topic: Stackelberg games with sliding mode control.
Melinda Simpson, MS student, Advisor: S. Yurkovich, Office CL352
Research topic: Automotive engine control.
Martin Sommerville, MS student, Advisor: Ü. Özgüner, CL 364
Research topic: Development of an autonomous car.
Lei Song, PhD student, Advisor: S. Yurkovich, Office CL365
Research topic: Nonlinear system identification and control.
S.P. Srinivas, MS student, Advisor: H. Hemami
Research topic: A vision system for detection of motion.
Oscar Sung, MS student, Advisor: S. Yurkovich, Office CL340
Research topic: Automotive engine control.
Baris Uzman, MS student, Advisor: H. Özbay, Office CL336
Research topic: Multi-objective control.
Rainy M. Wallace, MS student, Advisor: H. Hemami
Research topic: Analysis and control of cable driven systems.
Jin Yang, MS student, Advisor: H. Özbay, Office: CL336
Research topic: Modeling and control of welding processes.
Murat Zeren, PhD student, Advisor: H. Özbay, Office CL363
Research topic: Strongly stabilizing H-infinity controller design.
Jon Zumberge, MS student, Advisor: K. Passino, Office CL338
Research topic: Adaptive fuzzy/neural control for an aircraft engine.
M.S. Theses (1994, 1995)
A Theoretical Study of Constrained Motion of a Planar Three-Link Biped
Model by Afshin Karimi (1994, Advisor: H. Hemami).
Behavior Based Navigation of an Autonomous Mobile Robot Using Fuzzy Logic
by Robert S. Pattay (1994, Advisor: H. Hemami).
Computer Aided Diagnosis of Low Back Disorders Using the Motion Profile
by H. Sharafeddin (1995, Advisor: H. Hemami).
Control and Approximation of Delay Systems by Cemil Ulus (1994, Advisor:
H. Özbay).
Fault Tolerant Control for Automated Highway Systems by Jeffrey T.
Spooner (1994, Advisor: K. Passino).
Fixed Order Approximation of Infinite Dimensional Dynamic Systems
by C. Anthony Bailey (1995, Advisor: H. Özbay).
Fuzzy Estimation for Failure Detection and Identification by Sashonda
R. Morris (1994, Advisor: K. Passino).
Fuzzy Learning Control: Techniques and Applications by Waihon Andrew
Kwong (1994, Advisor: K. Passino).
Genetic Algorithms for Control System Design and Adaptive Control
by LaMoyne L. Porter (1994, Advisor: K. Passino).
Intelligent Control for Swing-Up and Balancing of an Inverted Pendulum
System by M. Widjaja (1994, Advisor: S. Yurkovich).
Lateral Control of Vehicles for Highway Automation by Cem Hatipoglu
(1995, Advisor: Ü. Özgüner).
Self-Optimization Sliding Mode Control and Optimization for Combustion
Engine and Electric Alternators by Chen De-Shiou (1995, Advisor: V.
Utkin).
Stability, Point to Point and Periodic Movements of a Planar Arm Using
Neural Oscillators by Gajendra H. Jain (1995, Advisor: H. Hemami).
Studies in Vehicle Dynamics for Control in the IVHS Environment by
Franz Kautz (1994, Advisor: Ü. Özgüner).
Subsystem Integration for a Vehicle in an AHS Framework by L. P.
Fulcher (1995, Advisor: S. Yurkovich).
Training Fuzzy Systems to Perform Estimation and Identification by
Eric G. Laukonen (1994, Advisor: K. Passino).
Ph.D. Dissertations (1994, 1995)
Complexity Issues in System Theory and Solution Procedures for Certain
Robust Control Problems by Onur Toker (1995, Advisor: H. Özbay).
Description, Analysis and Control Design of Discrete State and Hybrid
Systems by Murat Dogruel (1995, Advisor: Ü. Özgüner).
H-infinity Optimal Repetitive Control — Continuous Time and Sampled
Data Formulations by Thaddeus E. Perry (1995, Advisor: H. Özbay).
Implementation of Variable Structure Control for Sampled Data Systems
by Wu-Chung Su (1994, Advisor: Ü. Özgüner).
Neural Excitation, Training, and Control of Biorobotic Systems by
Jaywoo Kim (1995, Advisor: H. Hemami).
Parameter Set Estimation for Time-Varying Systems by John M. Watkins
(1995, Advisor: S. Yurkovich).
Stability and Control of Systems over a Communication Network by
Hubert Chan (1994, Advisor: Ü. Özgüner)
Stability and Performance Analysis of Scheduling Policies for Flexible
Manufacturing Systems by Kevin L. Burgess (1995, Advisor: K. Passino).
System Identification for H-infinity Robust Control Design by Stewart
L. DeVilbiss (1994, Advisor: S. Yurkovich).
Undergraduate Students
Damir Cefo, Advisor: Ü. Özgüner
Project topic: Autonomous Robotic Transporter (ART) speed sensing and braking.
John Cook, Advisor: K. Passino
Project topic: Intelligent control for a magnetically levitated ball.
Noah Cowan, Advisor: H. Hemami
Project topic: Control of the period and duty cycle of the Morris-Lecar
burst signal generator model.
Janto, Advisor: H. Hemami
Project topic: Modeling and simulating a human arm.
Tony Keiser, Advisor: K. Passino
Project topic: Intelligent control for a continuously variable transmission.
[Honor’s Thesis]
Thomas Kettemann, Advisor: H. Hemami
Project topic: Control of bio-robots by neural networks.
Brian Klinehoffer, Advisor: K. Passino
Project topic: Intelligent control for a process control experiment.
John Martin, Advisor: Ü. Özgüner
Project topic: Camera interfacing and simple image sensing for ART.
John Musacchio, Advisor: K. Passino
Project topic: Intelligent control for an inverted pendulum on an inverted
wedge. [Honor’s Thesis]
Greg Pollock, Advisor: Ü. Özgüner
Project topic: Global Positioning System (GPS) based location and curve
speed
alert for cars [Honor’s Thesis]
Mark Spaeth, Advisor: Ü. Özgüner
Project topic: Camera interfacing and simple image sensing for ART.
J.A. Susanto, Advisor: H. Hemami
Project topic: On-line filtering and integration.
Nemo Taylor, Advisor: S. Yurkovich
Project topic: Optical encoders for control.
Michelle Vogel, Advisor: H. Hemami
Project topic: Vision models for a dog’s pursuit
B.S. Honors Theses (1995)
An Autonomous Robotic Transporter by Stephen Mangette (1995. Advisor:
Ü. Özgüner).
Control of the Period and Duty Cycle of the Morris-Lecar Burst Signal
Generator Model by Noah Cowan (1995, Advisor: H. Hemami).
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4. FACILITIES
To carry out research in the various areas of control, the Control Research
Laboratory has extensive experimental facilities and computer resources.
Foremost among these is a computer facility through which control algorithms
can be implemented in real-time. Other resources of the Department of Electrical
Engineering, especially in microprocessor based controller development,
and CAD software on the main-frame computer, are also available.
Automotive Systems: A major effort for many years has involved the
study of the two principal control facets of transportation systems: a microscopic
aspect which relates to each individual vehicle, and a macroscopic aspect
which relates to overall network operations. Laboratory work has included
the development of sensors, the design and development of controllers for
vehicle longitudinal and lateral control, and field evaluations of designs.
Recent work involves active suspension control design, studies on hierarchy
issues within individual vehicles coupling steering, braking, and suspension.
Other work has focused on modeling and self-tuning control issues relative
to Anti-Lock Brake systems for conventional and electronic brake systems.
Laboratory hardware consisting of actual electronic brake hardware, in production
for GM cars, and TI DSP processor-based controllers allows hybrid simulation
of the braking system and vehicle dynamics. We have recently established
a test bed for continuously variable transmission control. The OSU Autonomous
Car, supported through the Center for Intelligent Transportation Research,
is a testbed for control algorithms and sensor integration.
Robotics and Locomotion: Research in understanding human movement
and locomotion has been ongoing for several years. A major development to
date is a model of the human ligamento-musculoskelital system, which has
resulted from research involving computer graphics, distributed processing,
and digital computer simulation studies. Current and future research efforts
are focused on a laboratory implementation of the processing of sensory
information, generation of point to point and rhythmic movement, and the
control of tactile forces in mechanical models.
Advanced Manufacturing: The advanced Manufacturing Laboratory was
established in 1990. The Lab is equipped with two PUMA 560 manipulators,
a Univision system, and a DATA translation multiple camera image grabber.
In addition, three IBM PCs and five workstations serve the computational
needs of the lab. These equipments are used for conducting advanced manufacturing
research.
Flexible Structures Facility: A series of fully instrumented flexible
structures has been set up for control of slewing and active vibration damping,
as well as for system identification and adaptive control studies. Special
purpose hardware and accompanying electronics comprise the basic laboratory
experimental apparatuses which include a free-free beam, and a two-link
flexible manipulator. Two new, complex flexible structures have recently
been developed. One is the Large Interconnected Vibration Experiment (LIVE),
a 16-ft cantilevered mass structure with slewable, flexible panels providing
a multi-body experiment platform. The second is a deployable, planar, three
bay truss on air bearings. This is a configuration on which high-speed deployment
studies can be made providing complex, nonlinear interactions in a structure
with multiple kinematic loops.
The FOSU Network: The FOrd OSU Control Network is an
experimental facility for investigating issues related to real time implementation
of control algorithms on a distributed network. The hardware for the network
has been supplied by Ford Motor Company and provides a multitude of experimental
possibilities. A number of PC’s are supported and each can accomplish
real-time control, either independently or sharing data across the network.
The network itself can be loaded with traffic to emulate multiple users
and delays.
Intelligent Control Testbeds: Two testbeds for the implementation
and evaluation of intelligent control systems have been established. The
first testbed, which was established via contributions from OMRON Electronics
of Schaumberg Illinois, includes: (i) the OMRON FS10AT Fuzzy Logic Inference
Software, and (ii) FB-30AT Fuzzy Logic Inference Board (with the FP-3000
Fuzzy Processor). Experiments are currently being constructed for: (i) fuzzy
and expert controller implementation, and (ii) performance evaluation of
fuzzy vs. conventional processing technologies. The second testbed involves
a Neural Network development system from Intel. The system provides a facility
for hardware implementation of various Neural Network based schemes for
identification and control studies. Present work involves testing a control
architecture for flexible structure vibration damping.
Educational
The Control Systems Laboratory: The Control Systems Laboratory was
established in 1990 to house the undergraduate Controls laboratory course
EE 557. Each laboratory station is equipped with state-of-the-art instrumentation
(digital oscilloscope, waveform generators, etc.) controlled over the GPIB
IEEE standard interface bus. The heart of each station is the HP Vectra
QS16 computer, an 80386-based machine with math coprocessor. Software includes
special purpose commercial packages for controlling the instrumentation,
and the design tool MATRIXX for analysis and computer-aided design of control
systems.
The Intelligent Systems and Digital Control Laboratory: The Intelligent
Systems and Digital Control Laboratory is a facility established in 1982
to house the senior/graduate level courses EE 757 and EE 758.
The laboratory has been upgraded in 1995 via a grant from the National Science
Foundation. The microcomputers are outfitted with analog and digital input-output
interfaces and students are able to use them as digital controllers in a
feedback loop, so as to control selected processes in the lab. The two-course
laboratory sequence provides the students with an opportunity to design,
implement and test controllers of gradually increasing complexity and provides
hands-on experience in software, digital and analog hardware, and algorithm
development in a realistic environment. A variety of control methodologies
are studied including conventional linear and nonlinear control (e.g., model
reference adaptive control and sliding mode control) and intelligent control
methods (e.g., direct, adaptive, and supervisory fuzzy control, neural control,
and genetic algorithms). The Intelligent Systems and Digital Control Laboratory
enjoys support from industry, and has a variety of donated equipment and
suggested experimental set-ups for student use. Although not a research
facility itself, resources of the Intelligent Systems and Digital Control
Laboratory are also used in various research projects. For more details
on this lab see the world wide web (/ ~passino
(761 DL. html).
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5. RESEARCH PROJECTS
Sponsored Projects
A Lane-Tracking System
Faculty: Ü. Özgüner
Originally intended as a laser based lane tracking system, due to intervention
of ODOT with different requirements, developed as a laser based vehicle
counting system. A survey of different technologies was also performed.
Sponsor: Spectra Research (AF Subcontract)
A Multi-Functional, Transportable Laboratory System
for Electric Vehicle Research
Faculty: S. Yurkovich, K.M. Passino, and L. Xu
This project focuses on augmenting the existing facilities within the
Center for Automotive Research (CAR) for experimentation on switched reluctance
drive systems for electric vehicle research. Research is being conducted
in electric drive characteristics, power electronics, and control system
technologies for monitoring, control, and management of such systems.
Sponsor: Center for Automotive Research
A Research-Curriculum Development Program for Enhancement
of U.S. Competitiveness in Intelligent Systems and Control
Faculty: K.M. Passino and S. Yurkovich
This project focuses on the development of (i) applications-directed research
based on utilizing existing theory of intelligent control, and (ii) an “Intelligent
Systems and Control Curriculum” that focuses on engineering analysis
and implementations of intelligent systems. A new lecture-only course on
intelligent systems and control and an innovative lecture-laboratory course
where students will be required to implement intelligent systems for realistic
applications has been introduced. It serves as a model course-sequence for
other universities. (For more information see the web site /~passino/
761DL.html.)
Sponsor: National Science Foundation
AHS Concept Studies
Faculty: Ü. Özgüner and K. Passino
Different concepts for a future Automated Highway System were developed
and evaluated with respect to criteria like safety, price, acceptability,
flexibility and throughput. Further development of concepts are underway
based on specific architectures.
Sponsor: Battelle (NAHSC Subcontract)
Application of Sliding Mode Control to an Automobile Alternator
and Induction Motor
Faculty: V. Utkin
Alternator control implies development of the observer design methods for
time-varying frequency of electromotive force, optimization in accordance
with power consumption criteria, control algorithms of the alternators with
excitation windings, feedback control for the scheduling the inverter operation.
The induction motor torque control system for a steering colomn should be
designed without measurement of torque, speed and motor shaft position;
the design methods for speed, flux and torque sliding mode observers will
be developed and then applied to control algorithms based on multidimensional
sliding modes.
Sponsor: Ford Motor Company
Automatic Steering and Speed Controller Design for Ground Vehicles
Principal Investigator: K. Ünyelioglu
This project is concerned with the development of an autonomous steering
and speed control system for a ground vehicle. The goal of the project is
to demonstrate the following tasks in an experimental vehicle: adaptive
speed control, autonomous steering control at highway speeds, and autonomous
lane change control. The experiments are currently being performed at the
Transportation Research Center (TRC), East Liberty, OH, using two cars donated
by Honda of America.
Sponsor: Center for Intelligent Transportation Research (OSU)
Brake Control Algorithms for Interactive Vehicle Dynamics
Faculty: Ü. Özgüner and K. Ünyelioglu
A new sliding mode control based algorithm was developed for Antilock Brake
Systems and this was evaluated in the context of full vehicle dynamics.
Work is continuing in analyzing the implication of interactions between
subsystems of a car including brakes, suspension, and steering.
Sponsor: Ford Motor Company
Control of Interconnected Distributed Systems
Faculty: Ü. Özgüner
In this follow-on project to our previous AFOSR supported program, different
modeling bases for interconnected flexible structures were investigated.
In later stages, different control strategies were used in comparing these
models. These included both sampled and continuous time sliding mode control
strategies. The modeling included neural networks and wavelet bases.
Sponsor: Air Force Office of Scientific Research
Contoller Design for Unstable Aeroelastic Systems
Faculty: H. Özbay
The effects of time delay on the robustness level of a closed loop system
designed for active flutter suppression are studied. The suboptimal version
of robustness optimization problem in the gap metric is solved for MIMO
systems with time delays. Different robust controllers are tested via simulations
for a thin airfoil. Their time domain performance and robustness are compared
under a gust disturbance and computational time delays.
Sponsor: Air Force Office of Scientific Research
Design Tools for Strongly Stabilizing H-infinity Controllers
and Noninteracting Control of Aircraft Dynamics
Faculty: H. Özbay and K.A. Ünyelioglu
In certain flight conditions optimal controllers for an aircraft is unstable.
It is difficult to test such controllers. Also, in the presence of sensor
failures such controllers lead to closed loop instabilities. Therefore,
it is important to find suboptimal stable controllers. In this research
several numerical search methods are studied (including bilinear matrix
inequalities, interpolation with outer functions, and genetic algorithms)
to solve this problem. Also considered is a multi-objective control problem
for noninteracting control, related to aircraft applications where engine
and airframe coupling plays an important role.
Sponsor: NASA Lewis Research Center
Development and Evaluation of Architectures
for Automated Highway Systems
Faculty: K.M. Passino
The focus of this work is on: (i) developing the CITR AHS architecture while
ensuring that it is compatible with the evolving national level architectural
concepts and (ii) beginning initial evaluations of an AHS control architecture
to study the integration of fault tolerant lateral and longitudinal control
functions. In addition, preliminary assessments of the possibility of using
fuzzy control techniques for accomodating failures that occur in an automated
lane are underway.
Sponsor: Center for Intelligent Transportation Research
Development of Course Sequence in Powertrain Modeling and Control
Faculty: S. Yurkovich, G. Rizzoni and K. Srinivasan
This project funds research in the area of IC engine control and transmission
control systems. Funding is also provided for the development of a three-course
sequence on Powertrain Dynamics and Control, bringing current research into
the curriculum.
Sponsor: General Motors
Evaluation of Fuzzy Logic for Process Control Applications
Faculty: S. Yurkovich and K.M. Passino
This project investigates the use of fuzzy control for two types of distillation
columns to regulate the boiling points of output products. The first problem
studies the possibility of using fuzzy logic for auto-tuning a PID controller
that is embedded in a neural control strategy. The second problem investigates
the use of adaptive fuzzy control for regulation of the process.
Sponsor: Amoco Research Center
Experimental Study of Autonomous Suspended Cable-Driven Mobile Manipulators
Faculty: H. Hemami and Y.-F. Zheng
We propose to explore autonomous suspended cable-driven mobile manipulators.
These manipulators operate in three-dimensional work spaces, as opposed
to other mobile robots that move on the ground, and are better equipped
to avoid collision. This is an exploratory research area because the fundamentals
are not understood well and the results are few. The manipulator is installed
on a platform and the platform is controlled by cables operated from a crane,
autonomously as opposed to tele-operated by humans. Numerous industrial
applications can be cited. Such cable actuated robots are referred to as
puppet robots. The major objective of this research is to study fundamental
issues involved in a puppet robotic system. Two issues are addressed: Multiple-cable
suspension of the puppet robot and position and orientation control of a
cable suspended puppet robot. Emphasis of this exploratory research is to
construct and demonstrate the feasibility of a puppet robotic system by
experiments: i) study of multi-cable suspended puppet robots including a
computer graphic model and construction of a simple three-cable suspended
robot, and ii) experimental study of position and orientation control of
the puppet robot including equations of the active cable, design of the
controller for coactivated cables, and testing the controller.
Sponsor: National Science Foundation
Fault Tolerant Automated Highway Systems
Faculty: K.M. Passino
Safety and reliability are central issues in the development and deployment
of AHS. This study investigaties the development of fault tolerant control
algorithms (for tire blow-out, brake failures, and AHS sensor failures).
In addition, methods are studied to manage the lateral and longitudinal
control of vehicles that have been determined to be faulty. Whether their
faulty operation was identified in AHS "check-in" or during automated
driving, the goal is to develop automated "check-out" procedures
to safely move a vehicle out of the AHS when there is a failure.
Sponsor: Center for Intelligent Transportation Research
Formation of an IVHS Center
Faculty: Ü. Özgüner
A major portion of the funds were distributed to different PI’s in
the College as seed grants and supported a Fellowsh Program. Three research
Thrust areas were selected and developed both through the Seed Grants and
research by PI and his students, specifically in Automated Highway Systems.
A research vehicle test-bed is being developed at the Transportation Research
Center.
Sponsor: OSU Transportation Research Endowment Program
Fuzzy Control for a Power Transmission Experiment
Faculty: K.M. Passino and S. Yurkovich
In this project a testbed is being developed for evaluation of controllers
for a continuously variable transmission. The testbed consists of a DC motor
for a drive, an electronically actuated pulley system, and a dynomometer
for a load.
Sponsors: National Science Foundation Research Experience for Under-graduates
Program, (Engineering Education and Centers Program) and the Center for
Automotive Research (CAR) at The Ohio State University
H-infinity Optimal Repetitive Control of Closed Loop
Servohydrolic Testing
Faculty: K. Srinivasan and H. Özbay
Repetitive control is used in many applications where external signals are
periodic. This research is aimed at finding robust repetitive controllers,
with a specified level of performance. For this purpose different H-infinity
optimal control problems are studied under special repetitive control structures.
Results from linear operator theory and Nevanlinna-Pick interpolation are
used for deriving H-infinity optimal repetitive controllers. These controllers
are tested on a servohydrolic testing set-up.
Sponsor: National Science Foundation
Implementation Studies for AHS and AVCS
Faculty: S. Yurkovich
This project investigates the use of various sensing systems for automated
highway systems control applications. Implementation issues are considered
via vehicle modeling, simulation, and control studies, including the use
of ABS and active suspension systems to improve vehicle safety and performance
in AHS scenarios.
Sponsor: Center for Intelligent Transportation Research (CITR)
Integrated Circuits for Distributed Control
Faculty: Ü. Özgüner
The AASERRT program was linked to the AFOSR project and supported one student.
This study concentrated on developing semiconductor integrated circuit equivalents
of flexible structure componsnts. An IC chip was actually fabricated and
tested.
Sponsor: AFOSR/AASERT
Intelligent Control and Sensing via Neural Networks
and Sliding Modes for Arc Welding
Faculty: S. Rokhlin, R.Richardson, Ü. Özgüner,
H. Özbay
An infinite dimensional linear model is considered for an arc welding process.
Finite dimensional approximations are studied, and robust controllers are
designed from the approximate model. The performance of these controllers
are compared to performances of PID and fuzzy controllers. Different sensing
and control schemes are also under investigation.
Sponsor: Office of Research (OSU)
Intelligent Controllers for Robotic Systems
Faculty: K.M. Passino
This project focuses on the development of an inverted pendulum on an inverted
wedge experiment and evaluating the use of intelligent control techniques
for this testbed. Some additional work is being done on a previously developed
robotic acrobat (“acrobot”) ,and development is underway for a
magnetically levitated ball experiment.
Sponsor: National Science Foundation Research Experience for
Under-graduates Program, (Robotics and Machine Intelligence Program)
Intelligent Mode Selection, Transition, and Blending Logic
Faculty: K.M. Passino
The objective for this project is to design logic with the intelligence
to select the appropriate mode of operation for the engine based on information
from the sensors, flight controls, and pilot. The mode selection logic will
be capable of adapting to the specific mission leg and operating conditions.
Logic for smoothly transitioning between modes, and for blending modes when
appropriate is also being designed. The applicability of adaptive control,
fuzzy logic, neural-networks, and rule-based systems to the problem of mode
selection, transition, and blending is being studied.
Sponsor: General Electric Aircraft Engines
Modeling, Analysis, and Design of Expert Control Systems
Faculty: K.M. Passino
Techniques are being developed to analyze the qualitative properties of
expert systems that are used as control systems. Algorithms have been developed
for reachability analysis and analysis of cyclic properties. Stability analysis
has been performed. Applications that are being studied include flexible
manufacturing systems, process control problems, and others. The overall
intent is to provide mathematical techniques for the verification and certification
of intelligent control systems.
Sponsor: National Science Foundation Research
Studies on Intelligent Control
Faculty: Ü. Özgüner, A. Chandrasskaran (CIS),
J. David (Chem. Engr)
The three PI’s from three different departments in the College tried
to unify their view on intelligent control of systems in a single framework.
Sponsor: OSU — Special allocation
Other Projects
Complexity of Control Problems
Faculty: H. Özbay
Computational complexity of several control problems were studied by Onur
Toker (received PhD from OSU in 1995) under Dr. Özbay’s supervision.
It is shown that the problems of mu-synthesis, simultaneous static output
feedback, and related mathematical problems, e.g. optimization via bilinear
matrix inequalities, are NP hard. So it is unlikely to find polynomial time
algorithms for such problems.
Discrete-Time Sliding Mode Control Systems
Faculty: V. Utkin
Conventional simulation and control methods for sliding mode in discrete-time
systems are limited by the available sampling bandwidth and allowable tracking
error caused by chattering. Based on the new concept “Discrete-time
sliding mode” an adaptive integration scheme has been developed that
follows the ideal continuous-time system. The adaptive method can be used
to generate discrete-time control signals in the systems with continuous-time
plants.
Fuzzy Dynamical Systems
Faculty: K.M. Passino
The use of fuzzy dynamical systems for modeling, analysis, and design of
controllers and estimators is being considered by Jeffrey Layne in his Ph.D.
research (support comes from the Air Force Palace Knight Program).
Fuzzy Modeling
Faculty: S. Yurkovich
This project focuses on the use of fuzzy logic and clustering algorithms
for system identification of complex nonlinear systems. Applications focus
on process control, glass furnace identification, and IC engine identification
and control.
Genetic Algorithms for Control and Signal Processing
Faculty: K.M. Passino
Genetic algorithms are being used for computer-aided-design of control systems,
in genetic adaptive control (indirect and direct), genetic supervisory control,
decentralized genetic adaptive control, and genetic adaptive estimation
and identification. Applications being considered include brake systems,
automated highway systems, process control, and others.
Parameter Set Estimation
Faculty: S. Yurkovich
This project investigates methods of robust identification for control,
using ellipsoidal-bounding techniques to characterize uncertainty in the
identificaiton experiment. Topics of interest include nonlinear system identification
and identification input synthesis.
Sliding Mode Control for Sampled Systems, Finite State, and Hybrid Systems
Faculty: Ü. Özgüner
The operation of sampling has been analyzed in detail in this study to consider
implication for sliding mode control. New definitions of “sliding”
are also being developed to cover finite state and hybrid systems.
Stable Scheduling of Flexible Manfacturing Systems
Faculty: K.M. Passino
Scheduling of flexible manufacturing systems (FMS) was considered by K.
Burgess in his Ph.D. research. Several approaches to scheduling were introduced
and each of these was shown to be stable (i.e., result in bounded buffer
levels).
Go back to top of page.
6. SUPPORTING AGENCIES
The following is a list of the funding sources for research in the Control
Area over the past four years, excluding direct equipment donations.
ABB
AFOSR
Air Products and Chemicals
Amoco Research Center
Battelle
Center for Automotive Research
Center for Intelligent Transportation Research
Delco Chassis Division of GM
Delco Morane NDH
Emerson Electric
Engineering Foundation
Engineering Research Center (OSU)
Ford Motor Company
GE Aircraft Engines
General Motors
NASA Lewis Research Center
National Automated Highways System Consortium
National Research Council — Transportation Research Board
National Science Foundation
NATO
Ohio Aerospace Institute
OMRON
OSU Seed Grant Program
OSU Transportation Research Endowment Program
Reliance Electric
Spectra Research
Wright Research & Development Center (Formerly AFWAL)
Go back to top of page.
7. PUBLICATIONS, DISSERTATIONS AND THESES
Books
An Introduction to Intelligent and Autonomous Control, Kluwer Academic
Publishers, Norwell, MA, 1993 (P.J.Antsaklis and K.M.Passino , eds).
Control System Laboratory, Kendall/Hunt Publishing Company, Dubuque
Iowa, 1991, ISBN#0-8403-6944-1 (S. Yurkovich).
Robust Control of Infinite Dimensional Systems: Frequency Domain Methods.
Lecture Notes in Control and Information Sciences, No. 209, ISBN 3-540-19994-2,
Springer-Verlag, London, 1996 (C. Foias, H. Özbay and A. Tannenbaum).
Sliding Modes in Control and Optimization, Springer Verlag, ISBN
3-540-53516-0, 1992 (V. Utkin).
Book Chapters (1993-1995)
“A controller based on a regulated gain disturbance observer,”
in Advances in Manufacturing Systems: Design, Modeling, and Analysis,
R.S. Sodhi, Ed., Elsevier, Amsterdam, pp. 191-197, 1994 (Y. Kawaguchi, H.
Hashimoto,and H. Hemami).
“Design of structure-based hierarchies for distributed intelligent
control,” in An Introduction to Intelligent and Autonomous Control,
P. Antaklis and K. Passino, Eds., Kluwer, pp. 79-108, 1993 (L. Acar
and Ü. Özgüner).
“Generalized sliding modes for manifold control of distributed parameter
systems” in Variable Structure and Lyapunov Control, A.S. Zinober,
Ed., Springer Verlag, Ch. 11, pp. 219-241, 1993 (S. Drakunov and Ü.
Özgüner).
“Modeling and stability isues in hybrid systems” in Hybrid
Systems II, P. Antsaklis, W. Kohn, A. JNerode and S. Sastry, Eds., Elsevier,
Lecture Notes in Computer Science, Ch. 11, pp. 219-241, 1993 (S. Drakunov
and Ü. Özgüner).
“On the computation of suboptimal H-infinity controllers for unstable
infinite dimensional systems,” in Robust Control Theory, B.
A. Francis and P. P. Khargonekar eds., IMA Volumes in Mathematics and its
Applications, vol. 66, Springer-Verlag, pp. 105-128, 1995 (O.Toker and H.
Özbay).
“Sliding mode control is discrete-time and difference systems”
in Variable Structure and Lyapunov Control, A.S. Zinober, E. Springer
Verlag, London, pp. 87-107, 1993. (V. Utkin).
“Variable structure control of flexible manipulators” in Variable
Structure Control for Robotics and Aerospace Applications, D. Young,
Ed., Elsevier, pp. 247-278 (D. Young, Ü. Özgüner and J.X.
Xu).
“Variable structure control of redundant mechanisms” in Variable
Structure Control for Robotics and Aerospace Applications, D. Young,
Ed., Elsevier, pp. 173-190, 1993 (D. Young, J-X. Xu and Ü. Özgüner).
“Variable structure adaptive control for manipulators” in Variable
Structure Control for Robotics and Aerospace Applications, D. Young,
Ed., Elsevier, pp. 89-108, 1993 (Ü. Özgüner and H. Chan).
“Variable structure systems and sliding modes — a state of the
art assessment” in Variable Structure Control for Robotics and Aerospace
Applications,” K-K D. Young, Ed., Elsevier Science Publishers B.V.,
Amsterdam, pp. 9-32, 1993 (V. Utkin).
Journal Articles (1994-1995)
“A metric space approach to the specification of the heuristic function
for the A* algorithm,” IEEE Transactions on Systems, Man, and Cybernetics,
Vol. 24, No. 1, pp. 159-166, Jan. 1994 (K.M. Passino and P.J. Antsaklis)
“A three-layered hierarchical path control system for mobile robots:
algorithms and experiments,” Robotics and autonomous systems,
Elsevier, pp. 133-137, No. 14, 1995 (J. Guldner, V. Utkin, and R. Bauer).
“ABS control using optimum search via sliding modes,” IEEE
Transactions on Control Systems Technology, Vol. 3, No. 1, pp. 79-85,
March 1994 (S. Drakunov, Ü. Özgüner, P. Dix and B. Ashrafi).
“Adaptive sliding mode control in discrete-time systems,” Automatica,
Vol. 31, pp. 769-773, No. 5, September 1995 (G. Bartolini, A. Ferrara, and
V. Utkin).
“Closed-loop control of systems over a communication network with queues,”
International Journal of Control, Vol. 62, No. 3, pp. 493-510, 1995
(H. Chan and Ü. Özgüner).
“Control of a one link arm by burst signal generators,” Biological
Cybernetics, Vol. 73, pp. 37-47, 1995 (Jaywoo Kim and H. Hemami).
“Decentralized blocking zeros and the decentralized strong stabilization
problem,” IEEE Transactions on Automatic Control, Vol. 40, pp.
1905-1918, 1995 (K.A. Ünyelioglu, A.B. Özgüler, and Ü.
Özgüner).
“Distributed fuzzy control of flexible manufacturing systems,”
IEEE Transactions on Control Systems Technology, Vol. 2, No. 4, pp.
423-435, Dec. 1994 (A. Angsana and K.M. Passino).
“Expert supervision of fuzzy learning systems for fault tolerant aircraft
control,” Special Issue on Fuzzy Logic in Engineering Applications,
Proceedings of the Inst. of Electrical and Electronics Engineers
(IEEE), Vol. 83, No.3, pp. 466-483, March 1995 (W.A. Kwong, K.M. Passino,
E.G. Lauknonen and S. Yurkovich).
“Fault detection and isolation for an experimental internal combustion
engine via fuzzy identification,” IEEE Transactions on Control Systems
Technology, Vol. 3, No. 3, pp. 347-355, Sept. 1995 (E.G. Laukonen, K.M.
Passino, V. Krishnaswami, G.-C. Luh and G. Rizzoni).
“Fuzzy learning control for a flexible-link robot,” IEEE Transactions
on Fuzzy Systems, Vol. 3, No. 2, pp. 199-210, May 1995 (V.G. Moudgal
W.A. Kwong, K.M. Passino K.M and S. Yurkovich).
“Gap metric problem for MIMO delay systems: Parameterization of all
suboptimal controllers,” Automatica, Vol. 31, No. 7, pp. 931-940,
July 1995 (O. Toker and H. Özbay).
“Genetic adaptive observers,” Engineering Applications of Artificial
Intelligence, Vol. 8, No. 3, pp. 261-269, 1995 (L.L. Porter and K. Passino).
“H-infinity optimal and suboptimal controllers for infinite dimensional
SISO plants,” IEEE Transactions on Automatic Control, Vol. 40,
No. 4, pp. 751-755, April 1995 (O. Toker and H. Özbay).
“H2/H-infinity controller design for a two-dimensional thin airfoil
flutter suppression,” AAIA J. Guidance Control and Dynamics,
Vol. 17, pp. 722-728, July-August 1994 (H. Özbay and G.R. Bachmann).
“H• sensitivity minimization using decentralized feedback: 2-input
2-output systems,” Systems and Control Letters, Vol. 22, pp.
99-109, 1994 (K.A. Ünyelioglu and Ü. Özgüner).
“Intelligent control for autonomous systems,” IEEE Spectrum,
Vol. 32, No. 6, pp. 55-62, June 1995 (K.M. Passino).
“Intelligent hierarchical thrust vector control of a spacecraft,”
IEEE Control Systems, pp. 13-23, 1994 (K. Redmill and Ü. Özgüner).
“Lagrange stability and boundedness of discrete event systems,”
Journal of Discrete Event Dynamic Systems: Theory and Applications,
Vol. 5, pp. 383-403, 1995 (K.M. Passino, K.L. Burgess and A.N. Michel).
“Linear decoupling controllers for constrained dynamic systems,”
International Journal of Control, Vol. 60, No. 4, pp. 607-616, 1994
(K. Iqbal, H. Kallel, and H. Hemami).
“Linear and nonlinear controller design for robust automatic steering,”
IEEE Transactions on Control Systems and Technology, Vol. 3, pp.
132-143, No. 1, March 1995 (J. Ackermann, J. Guldner, W. Sienel, R. Steinhouser,
and V. Utkin).
“Long and short delay feedback on one-link nonlinear forearm with coactivation,”
IEEE Transaactions on Systems, Man, and Cybernetics, Vol. 24, No.
9, pp. 1317-1327, 1994 (J.H. Gossett, B.D. Clymer and H. Hemami).
“Lyapunov stability of a class of discrete event systems,” IEEE
Transactions on Automatic Control, Vol. 39, No. 2, pp. 269-279, Feb.
1994 (K.M. Passino , A.N. Michel and P.J. Antsaklis).
“Neural control of flexible systems with partially known dynamics,”
Modelling and Scientific Computing, Special Issue on: Neural Networks
for Identification and Control of Dynamicsl Systems, 1994 (J. Donne, J-X.
Xu and Ü. Özgüner).
“On input/output stabilization of singular integrodifferential systems,”
Applied Mathematics and Optimization, Vol. 30, pp. 21-49, January
1994 (H. Özbay and J. Turi).
“On stability preserving mappings of dynamical systems: Part I: Theory,”
Avomaticka i Telemekhanika, (Int. Journal of Automation and Remote
Control) No. 10, pp. 3-12, 1994 (K. Wang, A.N. Michel and K.M. Passino).
“On stability preserving mappings of dynamical systems: Part II: Applications,”
Avomaticka i Telemekhanika, (Int. Journal of Automation and Remote
Control) No. 11, pp. 49-58, 1994 (K. Wang, A.N. Michel and K.M. Passino).
“Parametric subsystem set estimation for inter-connected systems,"
Int. Journal of Control, Vol. 59, No. 2, pp. 499-514, 1994 (M. F.
Cheung and S. Yurkovich).
“Robust stabilization of nonlinear systems with parametric uncertainty,”
IEEE Transactions AC, Vol. 39, No. 8, August 1994 (D. Schoenwald
and Ü. Özgüner).
“Rule-based control for a flexible-link robot,” IEEE Transactions
on Control Systems Technology, Vol. 2, No. 4, pp. 392-405, Dec. 1994
(V.G. Moudgal, K.M. Passino, and S. Yurkovich).
“Simple direction-dependent rhythmic movements and partial somesthesis
of a marionette,” IEEE Transactions on Systems, Man, and Cybernetics,
Vol. 25, No. 11, pp. 1491-1501, 1995 (H. Hemami and J.A. Dinneen).
“Sliding mode control for gradient tracking and robot navigation using
artificial potential fields,” IEEE Transactions on Robotics and
Automation, vol. 11, pp. 247-254, No. 2, April 1995 (J. Guldner and
V. Utkin).
“Stability analysis of load balancing systems,” Int. Journal
of Control, Vol.61, No. 2, pp. 357-373, February 1995 (K.Burgess and
K.M. Passino).
“Stability of linear feedback systems with random communication delays,”
International Journal of Control, Vol. 59, No. 4, pp. 925-953, 1994
(R. Krtolica,Ü. Özgüner, H. Chan, H. Göktas, J. Winkelman
and M. Liubakka).
“Supervised training of neural networks via ellipsoid algorithms,”
Neural Computation, Vol. 6, No. 4, pp. 748-762, 1994 (M.F. Cheung,
K.M. Passino and S. Yurkovich).
“Training fuzzy systems to perform estimation and identification,”
Engineering Applications of Artificial Intelligence, Vol. 8, No.
5, pp. 499-514, 1995 (E.G. Laukonen and K.M. Passino).
“Verification of qualitative properties of rule-based expert systems,”
Int. Journal of Applied Artificial Intelligence, Vol. 9, No. 6, pp.
587-621, Nov./Dec. 1995 (A.D. Lunardhi and K.M. Passino).
Conference Publications (1995)
“A design procedure for repetitive control systems,” Proceedings
of the ASME dynamic Systems and Control Division, DSC-Vol. 57-1, pp.
581-593, Atlanta, GA, November 1995 (K. Srinivasan, H. Özbay, and I.
Jung).
“A multiresolutional controller for sensitivity minimization of flexible
structures,” Proceedings of the 1995 ISIC, Monterey, CA (D.
Clancy and Ü. Özgüner).
“A semigroup approach to discrete-time sliding mode,” Proceedings
of the ACC’95, pp. 1314-1317, Seattle, WA, June 1995 (S. Drakunov
and V. Utkin).
“A theoretical study of the energetics of biarticular and uniarticular
actuators,” Annals of Biomedical Engineering, No. 549, Abstract
Supplement, K.R. Lutchen and H.F. Voigt, Eds, 1995 (B. Dariush, M. Parnianpour
and H. Hemami).
“A two-time-scale analysis of active suspension control of a 2D/4DOF
half-car model,” 1995 ACC, Seattle, WA, June 1995 (R. Krtolica,
H. Chan, Ü. Özgüner and D. Hrovat).
“Adaptive control of a class of decentralized nonlinear systems,”
Proc. of the IEEE Conf. on Decision and Control, pp. 1135-1140, New
Orleans, 1995 (J.T. Spooner and K.M. Passino).
“Analog VLSI circuit models for smart flexible structures,” SPIE
Conference on Active Materials and Adaptive Structures, San Diego, CA, February
1995 (A. Shah, L. Lenning, S. Bibyk and Ü. Özgüner).
“An analytical study of vehicle steering control,” Proceedings
of the IEEE Conference on Control Applications, pp. 125-139, Albany,
NY, 1995 (Ü. Özgüner, K.A. Unyelioglu and C. Hatipoglu).
“An input synthesis procedure for parameter set estimation,” Proceedings
of the 1995 American Control Conference, Seattle, WA, June 1995 (S.
L. DeVilbiss and S. Yurkovich).
“Combined longitudinal and lateral controller design for a vehicle
with radar sensors,” SAE Paper 951009, also SP-1076, pp. 51-57,
1995 (Ü. Özgüner, S. Drakunov, J. Young and L. Henderson).
“Connecting parameter set estimation to robust control design,”
Proceedings of the IEEE Conference on Decision and Control, New Orleans,
LA , December 1995 (S. L. DeVilbiss and S. Yurkovich).
“Design of a lateral controller for a cooperative vehicle system,”
SAE International Congress and Exposition, SAE Paper 940474, also
SP-100076, pp. 27-34, 1995 (Ü. Özgüner, K.A. Unyelioglu,
C. Hatipoglu and F. Kautz).
“Development of a welding process model for H-infinity control design,”
Proceedings of the 34th IEEE Conference on Decision and Control,
pp. 472-477, New Orleans, LA, December 1995 (M. Zeren, H. Özbay, and
J. Yang).
“Discrete sliding mode control of two mass system,” Proceedings
of the IEEE International Symposium on Industrial Electronics (ISIE’95),
Athens, Greece, Vol. 1, pp. 338-343, July 1995 (P. Korondi, H. Hashimoto,
V. Utkin).
“Discrete-event sliding mode observers for continuous-time systems,”
Proceedings of the 34th IEEE Conference on Decision and Control (CDC),
pp. 3403-3405, New Orleans, LA, December 1995 (S. Drakunov and V. Utkin).
“Dynamically focused fuzzy learning control,” Proc. of the
American Control Conf., pp. 3755-3759, Seattle, June 1995 (W.A. Kwong
and K.M. Passino).
“Ellipsoid algorithms for parameter set estimation of time-varying
systems,” Proceedings of the 1995 American Control Conference,
Seattle, WA, June 1995 (J. M. Watkins and S. Yurkovich).
“Fault tolerant longitudinal and lateral control for automated highway
systems,” Proc. of the American Control Conf., pp. 663-667,
Seattle, June 1995 (J.T. Spooner and K.M. Passino).
“Genetic adaptive observers,” Proc. of the American Control
Conf., pp. 1847-1851, Seattle, June 1995 (L.L. Porter and K.M. Passino).
“Global synchronous scheduling policies for flexible manufacturing
systems,” Proc. of the IEEE Conf. on Decision and Control, pp.
4190-4195, New Orleans, 1995 (K.L. Burgess and K.M. Passino).
“Intelligent control for brake systems,” Proc. of the IEEE
Int. Symp. on Intelligent Control, pp. 499-504, Monterey, CA, Aug. 1995
(W.K. Lennon and K.M. Passino).
“Intelligent control for swing-up and balancing of an inverted pendulum
system," Proceedings of the IEEE International Conference on Control
Applications, Albany, NY, September 1995 (M. Widjaja and S. Yurkovich).
“On H• sampled-data repetitive controllers,” Proceedings
of the 33rd Allerton Conference on Communication, Control and Computing,
University of Illinois Urbana-Champaign, October 1995 (T.E. Peery and H.
Özbay).
“On optimal design of a lane change controller,” Proceedings
of the IEEE Symposium on Intelligent Vehicles, pp. 436-441, Detroit,
MI, 1995 (C. Hatipoglu, K.A. Unyelioglu and U. Ozguner).
“On the NP-hardness of solving bilinear matrix inequalities and simultaneous
stabilization with static output feedback,” Proceedings of the American
Control Conference, pp. 2525-2526, Seattle WA, June 1995 (O. Toker and
H. Özbay).
“On the NP-hardness of the purely complex mu computation, analysis/synthesis,
and some related problems in multidimensional systems,” Proceedings
of the American Control Conference, pp. 447-451, Seattle, WA, June 1995
(O. Toker and H. Özbay).
“Optimal control of systems over a communication network with queues
via a jump system approach,” Proceedings of the 1995 IEEE Conference
on Control Applications, Albany, NY (H. Chan and Ü. Özgüner).
“Optimal design of a normal force controller,” Preprints of
the First IFAC Workshop on Advances in Automotive Control, Switzerland,
pp. 40-45, 1995 (J. Winkelman, IK.A. Unyelioglu and Ü. Özgüner).
“OT2 sliding in sampled systems with applications,” 1995 ACC,
Seattle, WA, June 1995 (W.C. Su, S. Drakunov and Ü. Özgüner).
“Radar based integrated vehicle control,” Proceedings of the
ITS America Annual Meeting and Exposition, pp. 103-107, Washington,
D.C., 1995 (Ü. Özgüner, J. Young, S. Drakunov, L. Henderson,
K.A. Unyelioglu).
“Robustness analysis of controllers designed for active flutter suppression,”
Proceedings of the American Control Conference, pp. 182-183, Seattle,
WA, June 1995 (O. Toker and H. Özbay).
“Sliding mode in systems with parallel unmodeled high frequency oscillations,”
Preprints of IFAC Conference NOLCOS’95, pp. 524-528, Lake Tahoe
City, CA, June 1995 (K.D. Young and V.I. Utkin).
“Sliding mode observers,—tutorial,” Proceedings of the
34th IEEE Conference on Decision and Control (CDC), New Orleans, LA,
December 1995 (S. Drakunov and V. Utkin).
“Some aspects of vehicle dynamics and their implications on control,”
Proceedings of the 34th IEEE CDC, New Orleans, LA, December
1995 (J. Winkelman, Ü. Özgüner, and K. Ünyelioglu).
“Some structural aspects of vehicle dynamics and their implications
on control,” Proceedings of the 34th IEEE Conference on Decision
and Control, pp. 3561-3566, New Orleans, LA, 1995 (K.A. Ünyelioglu
and Ü. Özgüner).
“Stability of a set of matrices,” Proceedings of the 34th IEEE
CDC, New Orleans, LA, December, 1995 (M. Dogruel and Ü. Özgüner).
“Stability of a set of matrices: An application to control systms,”
1995 ISIC, Monterey, CA (M. Dogruel and Ü. Özgüner).
“Stable adaptive fuzzy control for an automated highway system,”
Proc. of the IEEE Int. Symp. on Intelligent Control, pp. 531-536,
Monterey, CA, Aug. 1995 (J.T. Spooner and K.M. Passino).
“Stable direct adaptive control using fuzzy systems and neural networks,”
Proc. of the IEEE Conf. on Decision and Control, pp. 249-254, New
Orleans, 1995 (J.T. Spooner and K.M. Passino).
“Stable indirect adaptive control using fuzzy systems and neural networks,”
Proc. of the IEEE Conf. on Decision and Control, pp. 243-248, New
Orleans, 1995 (J.T. Spooner and K.M. Passino).
“The simplex method in variable structure control for nonlinear systems,”
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