Tutorials

PLEASE NOTE: Workshops W1 and W2 and tutorials T2 and T3 have been cancelled since they did not reach the minimum registration numbers. Full refunds will be issued to the registered participants.

This is the list of tutorials. All tutorials and workshops will take place on Tuesday, June 26.

A summary of each tutorial, including the list of topics covered and intended audience is given below.

 

Tutorial T1 (full day):
UNMANNED AERIAL, GROUND AND UNDERSEA SYSTEMS: THEORY AND APPLICATIONS
G. J. Vachtsevanos, Georgia Institute of Technology
P. J. Antsaklis, Notre Dame University
K. P. Valavanis, University of South Florida

The Tutorial aims at presenting a comprehensive overview of the current state of research in the area of unmanned vehicles in general and unmanned vehicle systems in particular for both military and civilian application domains. Emphasis will be given to the concept and issue of autonomy, concentrating in methods and techniques derived and implemented to improve autonomy of unmanned systems. The focus will be both on single unmanned vehicles as well as teams of unmanned vehicles, cooperation, coordination, communication, cooperative control and swarm intelligence.

The list of topics to be covered will include:

  1. State of the Art in Air, Ground and Undersea Unmanned Systems
  2. The Issue of Autonomy in Unmanned Systems
  3. Design and Control of Unmanned Aerial Vehicles
    1. Sensing and Control for Improved Autonomy
    2. Software Platforms: The Open Control Architecture
    3. Small / Miniature Helicopter Control
    4. Payloads and Power Requirements
  4. Unmanned Ground Vehicles
    1. Control Issues and Navigation
    2. Sensor Fusion
    3. Fault Detection and Isolation
    4. Challenges
  5. Undersea Vehicles: Design and Control Issues
    1. Sensors
    2. Communication
  6. Multiple Unmanned Aerial Vehicles                          
    1. Mission Planning and Control
    2. Cooperative Control Strategies
    3. Tracking and Reasoning Algorithms
    4. Swarm Intelligence         
  7. The Formation Control Problem
    1. 2-D Swarms (UGVs or UAVs)
    2. 3-D Swarms (UGV-UAV formations)
  8. Application Domains
    1. Military Operations
    2. Rescue Operations
    3. Forest Fire Detection
    4. Border Patrol
    5. Traffic Monitoring

Tutorial Material
A CD-ROM will be distributed with power point presentations, paper reprints and references. Benefits to Participants It is postulated that the participant will acquire a comprehensive and wide knowledge related to the current state of research in unmanned systems, advances, challenges, barriers, and unsolved issues, followed by the most recent cutting edge technology used to build such vehicles. In addition, the participant will be informed about the wide range of applications such vehicles may be used for.

Targeted Audience
The Tutorial is suitable for academicians, research scientists and engineers, practitioners, government and industry employees working or conducting research in control systems, robotics, electronics, modeling and design, sensors, smart materials, networks and communication systems.

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Tutorial T2 (half-day): [cancelled]
HIGH PERFORMANCE CONTROL OF PERMANENT MAGNET SYNCHRONOUS MOTORS
Sadegh Vaez-Zadeh, University of Tehran, Iran
http://eng.ut.ac.ir/ece/vaez-zadeh

Industry automation is mainly developed around motion control systems in which controlled electric motors play a crucial role as heart of the system. Therefore, the high performance motor control systems contribute, to a great extent, to the desirable performance of automated manufacturing sector by enhancing the production rate and the quality of products. In fact the performance of modern automated systems, defined in terms of swiftness, accuracy, smoothness and efficiency, mainly depends to the motor control strategies. The advancement of control theories, power electronics and microelectronics in connection with new motor designs and materials have contributed largely to the filed of electric motor control for high performance systems. Newly developed permanent magnet synchronous (PMS) motors with high energy permanent magnet materials particularly provide fast dynamics, efficient operation and very good compatibility with the applications if they are controlled properly. However, the AC motor control including control of PMS motors is a challenging task due to very fast motor dynamics and highly nonlinear models of the machines. Therefore, a major part of motor control development consists of deriving motor mathematical models in suitable forms. The dynamic models of the motors are presented in this tutorial in different reference frames to lay down a basis for the motor control design. The mathematical formulations and the equivalent circuit models are provided.
       
There are two competing control strategies for AC motors i.e. vector control (VC) and direct torque control (DTC). These two control strategies when applied to PMS motors are presented in this tutorial based on the developed models. Vector control, as the most used control strategy, is presented first. The decoupling of torque control and flux linkage control under VC is described and the benefits gained are highlighted. The motor phasor diagrams are used to make the presentation easily understandable. The design of linear controllers is presented and the opportunity for nonlinear and intelligent controls is mentioned. The motor control system block diagram is also described, followed by the analysis of motor performance. The motor performance under the control strategy is presented by detailed simulation using Matlab Simulink. Finally DSP implementation of PMS motor control is briefly offered.

Next, the principles of DTC and its main futures and requirements are elaborated. The fast response of motors under this control strategy, resulted from the direct selection of inverter voltage vectors, is especially highlighted. The system block diagram and the simulation results are also presented and the performance gains and drawbacks of the strategy are listed. The opportunity for enhancing DTC by using nonlinear and intelligent control methods is mentioned.    
    
The tutorial is aimed to be self contained.  The math is used where it is appropriate. However, the most straightforward approaches to motor modeling and control are used to reduce the analytical burden.

Tutorial Material
The tutorial is presented by about 120 power point slides. The participants will receive a copy of the power point file.

Potential Audience:
The tutorial provides an opportunity for control professionals to grasp an overview of high performance electric motor control strategies. Participants should be familiar with the basics of three-phase electric motors and power electronic converters.

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Tutorial T3 (half-day): [cancelled]
STATE OF THE ART COMPUTATIONAL METHODS AND SOFTWARE FOR COMPUTER-AIDED CONTROL SYSTEMS DESIGN AND ANALISYS
Biswa Datta, Northern Illinois University, DeKalb, Illinois, USA.
http://www.math.niu.edu/ dattab

During the last two decades, numerically viable algorithms have been developed for most of the important tasks arising in control systems design and analysis. Software packages based on these methods have been developed and are still being built. Unfortunately, these techniques and the softwares do not seem to be widely known and/or are not being widely used by a broad group of control theorists and practicing engineers. The primary reason for this appears to be that an understanding, efficient implementations, and making appropriate modifcations of these methods as needed for some applications of special interests, require an interdisciplinary knowledge and expertise of scientific computing, control theory, and computer science; and such a combined expertise is hard to acquire without spending a great deal of time, and taking many diversifed courses in different disciplines. In recent years, there have been a surge of applications of control techniques in many important areas of science and engineering, including Aerospace, Automotive, Medicines, Biology, Power Systems, Structural Dynamics, Manufacturing Engineering, and others. For successful applications of these techniques with a view to solving practical-life problems, it is crucial that the control techniques needed by these applications are properly implemented using numerically robust computational methods and software. The participants of this workshop will be exposed to the essential state-of-the-art useful computational techniques and software for control systems design and analysis, which can be used and further developed (as needed) in con dence in future research, teaching, and work on practical applications. The workshop will also provide motivation and practical guidance to the instructors teaching linear systems theory courses to include some state-of-the-art numerical techniques and software in their existing courses and/or design a exclusive graduate level course in this area.

The topics to be covered include:

  • Modeling
  • System Responses
  • Numerical tests for Controllability, Observability and Distance to Uncontrollability
  • Stability, Robust Stability and Distance to Instability
  • Numerical Solutions and Conditioning of Lyapunov and Algebraic Riccati Equations
  • Optimal and H-infinity Control
  • System Identifcation
  • Algorithms for Balanced Realization, Model Reduction and Hankel-Norm Approximations.
  • Numerical Algorithms and Conditioning of Pole-placement
  • Algorithms for Observer Design, Kalman Filtering and LQG Design item Control

Software:

  • MATLAB-based Control System Toolbox
  • SLICOT - A Fortran Subroutine Library in Systems and Control Theory
  • Control Systems Professional: Advanced Numerical Methods - A MATHEMATICA
    Based State-of-the-art Control Library
  • MATCONTROL - A MATLAB-based Control Systems Educational Tool Box, developed by Biswa Datta

Intended Audience
Graduate Students and Researchers in control and systems, and practicing control and systems engineers and applied scientists working on a wide variety of control applications, including aerospace, automotive, biology, medicine, space-sciences, structural and manufacturing engineering, robotics, power systems. and many others. The course will also be of interests to applied and computational mathematicians and other scientists
desirous of learning of how linear algebra problems arise in control systems design
and analysis and are solved using sophisticated techniques of numerical linear algebra.
Background : A First Course in Linear Control Systems and in Numerical Linear Algebra
will be helpful. Required numerical linear algebra topics will be reviewed during the lectures, as needed.

Tutorial Material
Detailed Lecture Notes will be provided to the audience.


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NOTE: Tutorials are subject to cancellation if minimum number of participants is not met. If a tutorial is cancelled due to lack of interest, pre-registered tutorial participants will receive a 100% refund.