Beruflich Dokumente
Kultur Dokumente
DAY1
08.45 09.15 REGISTRATION & COFFEE
09.15 09.30 Inauguration
09.30 10.15 Koshy George Multiple Models for Control and Signal Processing
10.15 11.00 P. S. V. Nataraj Robust Control using QFT
11.00 11.30 COFFEE
08 11.30 12.15 Dipankar Deb Modeling and Adaptive Control of Microbial Fuel Cells
Sep Constrained Nonlinear and Neuro-Adaptive Control
12.15 01.00 R. Padhi
with Barrier Lyapunov Function and Gradient Learning
FRI 01.00 02.00 LUNCH
02.00 03.15 AGM of the Society
Uncertainty handling and Robust Control techniques in
03.15 04.00 Rajeeb Dey
LMI framework: Some Applications
04.00 04.30 COFFEE
Game Theoretic Framework of Robust Control &
04.30 05.15 R. Ayyagari
Applications
05.15 06:00 R. K. Yedavalli Robust Control of Aerospace Systems in Linear State
Space Framework
DAY2
Robustness of Adaptive Control from a Classical
09.00 09.45 Vijay V. Patel
Perspective
09.45 10.30 M. S. Bhat Robust control of Aerospace Vehicles
10.30 11.00 Felicitation to Prof. M. S. Bhat
11.00 11.15 A. K. Sarkar Preparation about 2018 ACODS in Hyderabad
11.15 11.45 COFFEE
11.45 12.30 M. Kothari Robust Control of Variable-Pitch Quadrotor Helicopters
09 12.30 01.00 Vivek Raju Developing Autonomous Systems with MATLAB and
Sep Simulink
01.00 02.00 LUNCH
SAT 02.00 02.45 A. Pashilkar Flight Control of Fixed Wing Aircraft using Backstepping
Robust Attitude Control of Momentum Biased
02.45 03.30 Vinod Kumar
Spacecraft
03.30 04.00 COFFEE
Fundamental Trade-Offs in Robust Control with
04.00 05.00 Tamer Basar
Heterogeneous Uncertainty
05.00 05.30 Feedback & Valediction
05.30 06.00 High Tea
Abstracts and Biographies
08-Sept-2017
Dr. Koshy George obtained his BE, MS (by Research), and Ph.D from the University of
Mysore, IIT Madras, and IISc, Bangalore. He has held postdoctoral positions at Seoul
National University, Korea, Delft University of Technology, The Netherlands, and Yale
University, USA. He joined the then PES Institute of Technology in 2006, and is now
presently a Professor at PES University. He also directs the activities of the PES Centre
for Intelligent Systems which was set up in 2007. His research interests are primarily in
adaptation and nonlinear systems.
Title: Constrained Nonlinear and Neuro-Adaptive Control with Barrier Lyapunov Function
and Gradient Learning
Abstract: Based on the concept of differential geometry and inspired by standard PID design
philosophy, Nonlinear Dynamic Inversion (NDI) has evolved as a simple and promising
nonlinear control design technique that offers a closed form solution for the control in
state feedback form. A persistent problem in almost all control design applications,
however, is to maintain state constraints under closed loop operation. To address this
issue, a Barrier Lyapunov Function based feedback control design approach has been
developed, which interestingly retains the simple NDI form with a state-dependent gain.
In fact, under special conditions, it leads to the standard NDI. Hence, this technique has
been named as Generalized Dynamic Inversion (GDI). This very recent development,
which is yet to appear in the literature (but a paper has been accepted in the upcoming
2018 AIAA SciTech conference), will be outlined in this talk, followed by its application
to a challenging problem of controlling hypersonic (very high speed) aerospace vehicles.
Another potential problem of NDI is the issue of modelling uncertainty. To address this
issue, neuro-adaptive idea has been proposed in the literature over last two decades. A
potential problem that still remains, however, is transient oscillations before the
unknown function in the model is learned. However, a directional learning approach,
where both the unknown function as well as its gradient vector are learned online
simultaneously has been introduced recently by incorporating a Sobolev Norm based
Lyapunov Function. Second part of this talk will expose this philosophy, including its
application to the control of hypersonic vehicles. It can be mentioned here that this
approach has also been applied to other applications, such as automatic landing of UAVs,
control of Quadrotors, Wing-rock suppression etc.
Biography:
Abstract: This presentation gives an overview of the research being carried out by Prof. Yedavalli
and his research group on dynamics and control of dynamic systems described by linear
state space models. Noting that this type of systems level research is applicable to a
variety of dynamic systems in different engineering disciplines, specific applications in
aerospace systems are highlighted. In particular, more recent results on robust control
systems analysis and design using Qualitative (Sign) stability concepts borrowed from
the field of ecology are discussed. Using these concepts, the most desirable nominal
closed loop system in state space framework for high degree of stability robustness is
established and controllers are designed to achieve this desired closed loop matrix
structure. In addition, using these ecology principles to linear state space matrices, the
critical stability derivatives for stability are identified and new robust controllers are
designed for aircraft control. Similarly, these concepts are used to design satellite
attitude control systems which are highly robust to real parameter perturbations, with
reduced control effort.
Biography:
Dr. R. K. Yedavalli received his Ph.D degree from the School of Aeronautics and
Astronautics of Purdue University in the Dynamics and Control area in 1981. His
Bachelors and Masters degree were both from the Indian Institute of Science,
Bangalore, India. Currently he is spending his sabbatical at IISc as the Satish Dhawan
Visiting Chaired Professor. Dr. Yedavalli is a Fellow of IEEE, a Fellow of ASME, a Fellow
of American Association for the Advancement of Science (AAAS) and an Associate Fellow
of AIAA. He received the `Distinguished Alumnus Award from the Indian Institute of Science in 2009. In
2002, he also received the `Lumley Research Award by the Ohio State Universitys College of
Engineering. He published a text book with Springer in Jan 2014 titled: Robust Control of Uncertain
Dynamic Systems: A Linear State Space Approach. He is currently authoring an Undergraduate level
textbook on Flight Vehicle Dynamics and Control to be published by Wiley in Dec 2017. He has
published close to 200 Journal, Book chapters and Conference papers and presented invited seminars
on these topics
Abstracts and Biographies
09-Sept-2017
Abstract: Research in adaptive control field started with attempts to develop adaptive autopilots
for supersonic aircraft in the mid1950s and it generated a lot of research in industry and
academia. However, a crash of the X-15 led to bad reputation which was mainly
attributed to the adaptive system. In 1980s, for conventional flight control problems
researchers summarized as state of the art adaptive control is losing alternative in a
historical competition with explicit air data scheduling. In the early 1980s Charles Rohrs
constructed an example to demonstrate that the model reference adaptive controller
(MRAC) loses its robustness in the presence of unmodeled dynamics. The analysis and
conclusions in that paper were drawn purely from qualitative considerations, despite the
rigorous proof of the existence of the unbounded gain operators. In this talk Rohrs
example is revisited with the recent developments in adaptive controller and its
robustness from classical control perspective. The recent developments in adaptive
control show great promise, but only time will tell if it will be a viable alternative to gain
scheduling flight control.
Biography:
Dr. Vijay V. Patel is currently Group Director (Flight Control Laws- LCA Airforce) and
is member of the National Control Law Team since 1995. Dr. Patel obtained his PhD
in the area of robust control from IIT Kharagpur in 1995 and did his post-doctoral
research at Virginia Tech, USA (2006-2007) in the areas of L1 adaptive flight control,
coordinated path following for UAVs and adaptive flight control design for UCAVs. Dr.
Patel has published 70 technical papers in peer reviewed international journals and conferences. He is
recipient of INSA Young Scientist Award (2001), INAE Young Engineer Award (2004), DRDO Scientist
of the year (2013) Award and other awards from ISCA, NAL, DRDO. Dr. Patel is responsible for
development of LCA flight control laws features for carefree maneuvering. His major contributions
include the successful design and development of flight control algorithms, design of structural notch
filters, verification of the flight control system performance. He was also responsible for estimation of
aerodynamic coefficients from flight test data using nonlinear parameter estimation techniques which
enabled flight validation of the aerodynamic data, thereby allowing the aircraft to expand its flight
envelope to lower speeds and higher angles of attack. He played a major role in developing boundary
limiting features in flight control laws which in turn enabled to expand the flight envelope safely, more
rapidly without compromising safety.
Prof. M. Seetharama Bhat, IISc., Bangalore
Prof. M. S. Bhat has been with the Indian Institute of Science for over four decades
as an undergraduate in 1975, through 2017 (including as Dept. Chairman and
Satish Dhawan Chair Professor during 2009-12) and has richly contributed to the
Indian Aerospace and Defense in the areas of Guidance and Control of Aerospace
Vehicles, Dynamics and Control of Smart Structures, Thrust Vectoring, Estimation
techniques, Integrated navigation & guidance control systems. He has guided 24
PhDs and 40 Masters students and has numerous significant research publications. He has carried out
research projects to the tune of Rs. 3.2 Crores.
Prof. Bhat was the founding president of the Automatic Control and Dynamic Optimization Society
(ACDOS), the Indian NMO of the International federation of Automatic Control (IFAC).
Abstract: The talk presents a nonlinear control design for a variable-pitch quadrotor helicopter.
Unlike conventional quadrotors, the thrust actuation in variable-pitch quadrotor is
achieved by collectively changing the pitch angle of the blades of each rotor. The rotors
are powered by a single power plant and hence operate at identical rotor speed. The
challenge associated with the control design for variable-pitch quadrotor, due to the
nonlinear relationship between blade pitch angle and rotor reaction torque, is overcome
by introducing a control allocation loop. The control allocation loop dynamically
computes the blade pitch angle required to generate desired rotor thrust and moment
necessary for stabilization and control. Back-stepping approach is chosen for control
design as it is inherently robust to model uncertainties and can handle under actuation
effectively. The controller uses a cascade structure to achieve position and attitude
control. The performance of the control design is first verified through simulation. The
proposed control law is then implemented on a PixHawk open source autopilot board
and the performance of the controller is demonstrated through flight tests performed
on an off-the-shelf variable-pitch quadrotor.
Biography:
Dr. Mangal Kothari received the Bachelor of Engineering (B.E.) degree in Electronics
Instrument and Control Engineering from the University of Rajasthan, India, in 2004.
He received the Master of Science (M.Sc. Engg.) degree in Aerospace Engineering from
the Indian Institute of Science, Bangalore, India, in 2006 and the Ph.D. degree in Control
Engineering from the University of Leicester, UK, in 2011. He is currently an Assistant
Professor in the Department of Aerospace Engineering, Indian Institute of Technology
Kanpur. His research interests include optimal control, nonlinear and adaptive control, flight vehicle
guidance and control, cooperative, and motion planning.
Dr. Abhay Pashilkar is a graduate of Aerospace Engineering of the 1991 batch from
the Indian Institute of Technology Kharagpur. He completed his ME from the
Aerospace Engineering Department of IISc in 1993. Since then he is with the Flight
Mechanics & Control Division of the National Aerospace Laboratories, Bangalore. He
holds a PhD from the Aerospace Engineering Department of IISc in the area of high
angle of attack aerodynamic modeling. His research interests include flight dynamic
modeling, simulation, control and parameter estimation. He is a recipient of the CSIR Young Scientist
Award 2001 and the INAE Young Engineer Award in 2003.
Abstract: The paradigm of networked control systems, where the feedback loop is closed over
heterogeneous networks, has opened up a vast number of opportunities for applications
in different fields while creating also a number of challenges with regard to reliability,
robustness, and security of control operations. This talk will address these challenges,
where networks providing sensor measurements to controller(s) and those carrying
control signals to the plant as well as the plant itself are vulnerable to stochastic as well
as adversarial disturbances and sporadic failure of channel connectivity. The question of
interest is the extent to which the plant, measured in terms of a performance metric,
can tolerate such disturbances and failures, which themselves are also quantified in
terms of some appropriate metrics.
Following a general overview of networked control problems, the talk will focus on
linear-quadratic systems, with norm-bounded deterministic (adversarial) disturbance
inputs and hybrid stochastic uncertainty, both of which impact network channels, where
the latter is characterized by additive Gaussian noise and Bernoulli type failures. Explicit
results for both the estimation problem and the control problem will be discussed under
the TCP (Transmission Control Protocol) type information structure (which leads to
certainty-equivalance, but not to separation of estimation and control), and the trade-
offs between control performance, disturbance energy, and channel failure rates (that
is, channel reliability) will be quantified. Under the UDP (User Datagram Protocol) type
packet loss acknowledgement process, on the other hand, there is no certainty-
equivalance, but still some trade-off results can be obtained. The talk will conclude with
a discussion of future directions of research in this topical area and the challenges that
lie ahead.
Biography:
Dr. Tamer Baar has been with the University of Illinois at Urbana-Champaign since
1981, where he holds the academic positions of Swanlund Endowed Chair; Center for
Advanced Study Professor of Electrical and Computer Engineering; Professor,
Coordinated Science Laboratory; Professor, Information Trust Institute; and Affiliate
Professor, Mechanical Sciences and Engineering. He is also the Director of the Center
for Advanced Study. He is a member of the US National Academy of Engineering and the
European Academy of Sciences; Fellow of IEEE, IFAC, and SIAM; a past president of the IEEE Control
Systems Society (CSS), the founding president of the International Society of Dynamic Games (ISDG),
and a past president of the American Automatic Control Council (AACC). He has received several awards
and recognitions over the years, including the highest awards of IEEE CSS, IFAC, AACC, and ISDG, the
IEEE Control Systems Technical Field Award, and a number of international honorary doctorates and
professorships. Dr. Baar has over 700 publications in systems, control, communications, optimization,
and dynamic games, including books on non-cooperative dynamic game theory, robust control,
network security, wireless and communication networks, and stochastic networks. He is editor of
several book series.