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Odjel za upravljačke sustave - Teorija, projektiranje i primjena upravljačkih sustava. Obuhvaća komponente i integraciju ovih komponenata što je potrebno za konstrukciju ovakvih sustava. Riječ „sustav“ koja je ovdje upotrijebljena bit će interpretirana tako da uključi fizičke, biološke i organizacijske subjekte kao i kombinaciju koja može biti zastupljena pomoću matematičke simbolike. Interesno područje će sadržavati znanstvene, tehničke, industrijske ili neke druge aktivnosti koje doprinose ovom području ili koristiti tehnologiju ili proizvode iz ovog područja.
Odjel ima studentske ogranke na sveučilištima u Osijeku, Rijeci i Zagrebu.
Hrvatska sekcija IEEE, CS/RA odjel u suradnji s FP7 projektom “Developing Croatiang Underwater Robotics Research Potential” (CURE) pozivaju Vas na predavanje:
Robust Reconfigurable Control for Underwater Vehicles
koje će u petak, 22.10.2010, u 13:00 sati, u Sivoj vijećnici održati Prof. Guy Beale.
Životopis predavača i sažetak predavanja nalaze se u nastavku obavijesti.
Curriculum Vitae
Dr. Beale received his Ph.D. in Electrical Engineering from the University of Virginia with an emphasis in Control Systems.He has 25 years experience as a faculty member at VanderbiltUniversity and GeorgeMasonUniversity, teaching and conducting research in various areas of control theory. During that time, he has accumulated over 20 years experience in the design of control and estimation algorithms for underwater vehicles, including the development of a robust reconfigurable control system to provide fault tolerant control for a vehicle experiencing stern and bow plane jams. He has more than 70 journal and conference papers in controls and digital simulation.
Abstract
Stern and bow plane jams have been shown to cause catastrophic results in underwater vehicles. The design of a fully automated robust reconfigurable controller is presented that prevents excessively large depth excursions that could cause broaching or dangerously deep depths. Using Linear Quadratic Regulator (LQR) methods, three sets of gain matrices (one for normal operation, and one for each jam type) are computed for the system model at different speeds. The appropriate gain is selected depending on the jam type and speed. Simulation results are presented to show the performance of the reconfigured control system. The controller is also tested for robustness using the Edge Theorem, and it is shown to stabilize a sufficiently wide range of system models.
