Mechanical Systems Control Lab
About Us
The recent research of MSC lab has focused on intelligent/autonomous mechanical systems and their interaction with humans from manufacturing (industrial robots) to transportation (autonomous driving) with synergies between model-based control methodologies with machine learning.News and Updates
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Prof. Bhattacharyya PID Controls Seminar
Prof. Bhattacharyya begins his four-part seminar on PID control today. The details of his seminar series is below:
A Short Course on Modern PID Control
By Prof. Shankar P. Bhattacharyya
Abstract
In this course we describe recent results on PID control that describe a new approach to design. Specifically we develop procedures to compute the complete stabilizing set. This is based on fundamental new results on root counting based on the Hermite-Bieler Theorem and its generalization. The computational algorithm that results is a linear programming problem with a nesting parameter. The stabilizing sets are shown to have certain convexity properties in specific directions. This computation opens up the possibility of carrying out design to satisfy multiple specifications. The results are applicable to continuous time systems with and without delays, and to discrete time systems. In addition it is shown that they also allow design for a plant described by frequency response measurements without first developing an identified model.
Lecture Slides
- PID Controllers: An Overview of Classical Theory
- PID Controllers for Delay-Free LTI Systems
- PID Controllers for Systems with Time-Delay
- Digital PID Controller Design
- First Order Controllers for LTI Systems
- Data Based Design of 3 Term Controllers
Bio
S.P. Bhattacharyya is the Robert M. Kennedy Professor of Electrical Engineering at Texas A & M University. He received the B.Tech degree in Electrical Engineering from IIT, Bombay in 1967, and the MS and PhD degrees in Electrical Engineering from Rice University, Houston, Texas in 1969 and 1971 respectively. He is an IEEE Fellow, an IFAC Fellow and a member of the Brazilian Academy of Sciences. He has coauthored 7 books, over 100 journal publications and 250 conference publications in the field of Control Theory. He is also an accomplised concert artist and plays Indian Classical Music on the Sarode internationally.
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Farewell Atsushi Oshima-san
Atsushi Oshima-san's farewell dinner at Party Sushi.
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Thanksgiving 2012
The MSC Lab celebrates Thanksgiving at Prof. Tomizuka's house.
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DSCC 2012
The Tomi “family” at DSCC 2012.
(Pictured from left to right. Back row: George T. C. Chiu, Matthew Brown, Yizhou Wang, Huei Peng, Jonathan Asensio, Yu Sakon, Ahmed El-Shaer, Tony Phillips. Front row: Tsu-Chin Tsao, Xu Chen, Roberto Horowitz, Wenlong Zhang, Masayoshi Tomizuka, Lucy Pao, Wenjie Chen, Bin Yao.)
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Congratulations Xu!
We are pleased to announce that Xu Chen won the ASME ISPS Division 2012 Graduate Student Conference Scholarship this past June at the 2012 ASME-ISPS / JSME-IIP Joint International Conference on Micromechatronics for Information and Precision Equipment. Congratulations Xu!
Research Update
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Safe OnGO-VIC: Online Gain Optimization for Variable Impedance Control with Control Barrier Functions
We present a safe gain optimization algorithm for variable impedance control with control barrier functions. The algorithm is able to obtain the optimal impedance gain without manully tuning and avoid unwanted collisions in real-time. Check out our webiste page here.
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UrbanLoco: A New Challenge for Urban Mapping and Localization
