[General] IEEE JRACS Seminar on Control of Robotic Surface Vessels at UAH - Thursday, March 15, 5:30pm

[Leandro Barajas]

*Dear IEEE Society Members,*

*
*

This is an announcement for the IEEE JRACS Chapter Kick-off meeting and
monthly Technical Seminar.

If you are planning to attend please register using the link below.


This is an open event, so please feel free to forward this information to
your colleagues or anyone that could be interested in the topic.

Finally, if your company is interested in sponsoring food/drinks for this
or for a future event please contact me.


Meeting Agenda:

5:30pm Networking & Registration
5:50pm Official JRACS Chapter Kickoff
6:00pm Technical Presentation
7:00pm Adjourn


Best,


*Leandro G. Barajas, Ph.D., PMP, IEEE SM*
Chapter Vice­-Chair IEEE Joint Robotics & Automation - Controls Systems
(JRACS) Society
IEEE Huntsville Section, Huntsville, AL
www.LeandroBarajas.com
L.G.Barajas at ieee.org
+1 (248)705-8192



*IEEE Joint Robotics & Automation - Controls Systems (JRACS) Chapter Seminar
*

* *

*Incorporating Input Saturation for*

*Underactuated Surface Vessel Trajectory Tracking Control*

* *

*By Dr. Farbod Fahimi*

Assistant Professor, Mechanical and Aerospace Engineering, University of
Alabama Huntsville



University of Alabama Huntsville (UAH), Olin B. King Technology Hall, Room
S105

5000 Technology Drive, Huntsville, AL 35899

Thursday March 15, 6:00pm-7:00pm


Soft drinks will be provided



Please Register at:

https://meetings.vtools.ieee.org/meeting_view/list_meeting/11027



If your company is interested in sponsoring food/drinks for this event

please contact the event organizers (see below).


 [image: Inline image 1]

*
*

*Abstract:*

*
*

A Nonlinear Model Predictive Controller (NMPC) for trajectory tracking of
surface vessels is presented. NMPC calculates the future control inputs
based on the present state variables by optimizing a cost function. The
fact that cost function incorporates input constraints as well as state
errors in determining the control inputs is exploited. This method can be
applied to all systems with input saturation. NMPC formulation and
derivation of input constraints are presented. Here the controller is
designed based on a 3 DOF nonlinear dynamic model of the vessel. The
performance of the controller is demonstrated by simulations. A constant
speed sine trajectory is defined as desired path and the simulation results
for input saturation case show the control inputs (propeller speed and
rudder angle of the vessel) remain within the saturation limits in extreme
maneuvers, the vessel recovers from saturation. The vessel follows the
trajectory very closely when the inputs are not saturated.



**

*Speaker Bio:*



Dr. Fahimi has over 10 years of research experience in dynamic modeling,
system identification, linear and nonlinear controls, with applications to
robotic system and autonomous vehicles. He received a PhD degree in
Mechanical Engineering on dynamic modeling of flexible multi-body systems
in 1999. He has graduated 8 Masters students, and has offered several
senior design projects. He is currently supervising several full time and
part time graduate students. He has taught several undergraduate and
graduate level courses such as Dynamics, Vibrations, System Dynamics,
Elasticity, Finite Element Method, Introduction to Robotics, and Advanced
Robotics. He has authored a graduate level text book titles: Autonomous
Robots; Modeling, Path Planning, and Control.


[image: Inline image 2]


For more information please contact:
Leandro G. Barajas, Ph.D., PMP, IEEE SM
IEEE JRACS Chapter Vice­Chair, L.G.Barajas at ieee.org, +1(248) 705-8192

To be added or removed from the IEEE Huntsville Section email list,
just send an email to L.G.Barajas at ieee.org with *ADD <
L.G.Barajas at ieee.org?subject=ADD> *or *REMOVE <
L.G.Barajas at ieee.org?subject=REMOVE>* as the subject line.
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