Adaptive Systems and Control
Group
Advisor
Gang
Tao, Ph.D.
Professor
of Electrical Engineering, University of Virgina
Fellow of
IEEE
Research Overview
Resilient Control Systems Theory and Techniques
Graduate Students
Magdy
A. Abadir (Ph.D. student;
topic: Adaptive control of power systems with uncertainties and
failures)
Paul
W. Austin (M.E., 1995, topic: systems and control theory)
Michael
Baloh (M.S., 1998; topic: Design and testing of a continuous flow
ventricular assist device)
Michael
Baloh (Ph.D., 2001; topic: Modeling and control of magnetic bearing
for a continuous flow ventricular assist device)
Lori
N. Brown (M.S., 1994; topic: An adaptive PID controller)
Jason
Burkholder (M.S., 1997; topic: Adaptive dead-zone compensation for
autopilot design)
Jason
Burkholder (Ph.D., 2010; topic: Adaptive algorithms for dynamic
systems diagnostics and fault-tolerant control)
Vamshi
Krishna Chatla (M.E., 2011; topic: Adaptive multiple-model control)
Shuhao
Chen (Ph.D., 2004; topic:
Adaptive control of linear systems with actuator failures)
Jiacheng
Chen (M.S., 2022; topic:
Adaptive control of robot manipulators in varying environments)
Tinya
L. Coles (M.S., 1994; topic:
Control of manipulators with time-varying parameters)
Warren
O. Dennis (M.S., 1994; topic: Adaptive control of plants with
jumping parameters)
Dipankar
Deb (Ph.D., 2008; topic:
Adaptive compensation of synthetic jet actuators for aircraft flight
control)
Juntao
Fei (Ph.D. student; topic:
Adaptive control of morphing aircraft dynamic systems)
Jingjing
Hao (M.S., 2017; topic:
Multiple-model adaptive control of robotic systems)
Emin
Faruk Kececi (Ph.D., 2003; topic: Adaptive actuator failure
compensation for robotic systems)
Jiaxing
Guo (Ph.D., 2013; topic: Multivariable adaptive fault-tolerant
control with aircraft flight system applications)
Wanshi Hong
(M.S., 2017; topic: Adaptive control schemes for three-phase grid-connected
inverters in photovoltaic power generation systems)
Wanshi Hong
(Ph.D., 2020; topic: Adaptive Learning and Optimal Control Methods for Developing Intelligent Transportation Systems)
Kai Jia (M.E., 2012; topic: Feedback
Compensation and detection of actuator failures)
Zackary Knoll (M.S., 2015; topic: Multivariable backstepping and adaptive LQ control of
thermoacoustic coupling in jet engines)
Shanshan Li
(M.S., 2007; topic: Study of MRAC based sensor uncertainty
compensation)
Shanshan Li
(Ph.D., 2010; topic: Adaptive control of systems with sensor
nonlinearities)
Yi Ling (Ph.D., 1999; topic:
Adaptive control of multivariable systems with actuator
nonlinearities)
Yu
Liu (Ph.D., 2009; topic: Model reference adaptive control of
systems under actuator and dynamics failures with applications to
aircraft flight control)
Xiaodong Liu
(M.E., 1995, topic: Nonlinear control of robot manipulators)
Xi Luo (M.E., 2011; topic: Adaptive
systems and control theory)
Weihan Lyu (M.E., 2020; topic: Partially adaptive state
feedback control for multirotor systems under actuator failures)
Xiaoli Ma
(M.S., 2000; topic: Adaptive actuator nonlinearity compensation
control with feedback linearization)
Stephen Christopher Mack
(M.S., 2010; topic: Adaptive detection of aircraft damage and
actuator failures)
Deepyaman Maiti
(M.S., 2011; topic: Discrete-time adaptive control of systems with
structural damage)
Justin McQuown (M.S., 2007;
topic: Study of modeling and adaptive control for redundent
manipulators)
Edward Francis Miles (M.E. student, topic: Systems and control theory)
Stephen Thomas Mondschein
(M.S., 2011; topic: Adaptive actuator nonlinearity compensation and
disturbance rejection)
Raul Torres Muniz (Ph.D.,
1998; topic: Mobile robot control by a biologically inspired neural
network structure)
Shalaka Suresh
Narkhede (M.S., 2010; topic: Adaptive linear estimation and LQ
control of a nonlinear generic transport model)
Nilesh Pradhan
(M.S., 2002; topic: Adaptive control of systems with flexibility and
nonlinear friction; co-advisor: Majd Alwan)
Yulin Qin (M.S., 2018; topic:
Adaptive control of robot manipulators with uncertain variable
parameters)
Prabhu Jude
Rajendran (M.S., 2007; topic: A smart and passive floor-vibration based
fall detector)
Korey Rankin (M.S., 2014; topic:
Adaptive control of aircraft under icing conditions)
Reinaldo Christian Reina (M.E., 2020; topic:
adaptive control system theory)
Gray D. Roberson (M.S., 2000;
topic: Adaptive sway control design and simulation for an industrial
crane system)
Cameron B. Ruddy (M.E., 1994,
topic: Integrated intelligent artillery systems)
Thummaros Rugthum
(M.S.; 2014; topic: Adaptive actuator failure compensation for a robotic
system)
Thummaros Rugthum
(Ph.D., 2017; topic: Adaptive actuator failure compensation control of
robotic systems with uncertainties)
Qian
Sang (Ph.D., 2012; topic: Adaptive control of piecewise linear
systems)
Hesham M.
Shageer (M.S., 2006; topic: Study of Moldeing and adaptive control
of spacecraft with fuel slosh)
Hesham M.
Shageer (Ph.D., 2013; topic: Nonlinear adaptive control for
spacecraft with fuel slosh)
Justin Selfridge (Ph.D.,
2017; topic: Tethered uni-rotor network: design, modeling, control, and
simulation for a novel eternal flight system)
Yu Sheng (Ph.D., 2019; topic:
Adaptive fault-tolerant control of multi-rotors)
Minyan Shi (Ph.D., 1999;
topic: Robot teleoperation with medical applications)
Charu Singhal
(M.S., 2010; topic: Neural network based compensation of synthetic jet
actuator nonlinearities for aircraft flight control)
Elaina A. Sniffen (M.S. student; topic: Discrete-time adaptive control of multivariable
systems with input dead-zones)
Ge Song (M.S., 2015; topic:
Multivariable adaptive control for distributed leader-following
consensus of multi-agent systems)
Ge Song (Ph.D., January 2020; topic:
A New Framework of Model Reference Adaptive Control: Partial-State Feedback Designs
and Applications)
Sitichai Srioon
(M.E., 2006; topic: Feedback control for sensor networks)
Xidong
Tang (Ph.D., 2005; topic: Adaptive control of nonlinear systems
with failures and uncertainties)
Ming Tian (Ph.D., 1997;
topic: Adaptive control of systems with nonsmooth nonlinearities)
Avinash
Taware (Ph.D., 2001; topic: Control of sandwich nonlinear
systems)
Lingfeng Wang
(Ph.D. student; topic: Adaptive failure compensation for real-time
systems)
Timothy M. Waters (M.S.,
1998; topic: Design and simulation of a physiological controller for
a continuous flow ventricular assist device)
Yi
Wu (Ph.D., 2004; topic: Adaptive physiological control of left
ventricle assist devices; advisor: Paul Allaire, co-advisor: Gang
Tao)
Yuanqing Yao
(M.E., 2017; topic: Modeling and control of battery systems)
Chi Zhang (M.S., 2015; topic:
Adaptive control of wind turbine systems with time-varying
parameters)
Xuerui Zhang
(M.S., 2001; topic: Adaptive sliding mode control for a continuous
flow ventricular assist device)
Qianhong Zhao
(Ph.D., in progress; topic: Advanced adaptive control systems using least-squares algorithms)
Collaborators
Paul
Allaire, University of Virginia
Jason
Burkholder, Barron Associates, Inc.
Carlos
Canudas de Wit, Laboratoire d'Automatique de Grenoble
Michael
Demetriou, Worcester Polytechnic Institute
George
Ianculescu, Boeing
Suresh
M. Joshi, NASA Langley Research Center
Petar
Kokotovic, University of
California
Frank
Lewis, University of Texas
Rogelio
Lozano, Universite de Technologie de Compiegne
John
A. Stankovic, University of Virginia
Jing
Sun, University of Michigan
Carole
Teolis, Techno Sciences Inc.
Changyun
Wen, Nanyang Technological
University
Undergraduate Students
Jae
Won Song (topic: Design and implementation of autonomous volume
control for audio systems, March 1995)
Zachary
Kelly (topic: Autonomous volume control for stereo systems, March
1995)
Moon-Hwan
Yang (topic: An analysis of intelligent control methodologies:
levels of intelligence and their components, April 1995)
Sean
Celi (topic: An advanced train warning system at railroad-highway
grade crossings for improved motorist safety, March 1997)
Ahsan
Ashraf (topic: Prosthetic devices: a more life-life limb, March
1997)
Jason
T. Rapalski (topic: Electronically controlled active suspension
system for electric vehicles, March 1997)
Ryan
J. Dabbieri (topic: Design, simulation, and analysis of an airship
electrical power distribution system developed for the student
engineering challenge airship project (SECAP), March 1998)
Timothy
E. Litchfield (topic: Smart sensing active suspension, March 1998)
Tahmina
Haque (topic: Adaptive
control of aircraft motion, March 2001)
David
Georgen (topic: Design of an inexpensive robotic system for use in
hazardous environment scenarios, March 2003)
Hesham
M. Shageer (topic: An adaptive
controller for a power system model, August 2004)
Benjamin
Mott (topic: Design of an adaptive autocalibration systems for sensor
networks, April 2005)
Ilya
D. Vugmeyster (topic: Adaptive control of a magnetically suspended beam
with actuator failures, April 2005)
Timothy
Staley (topic: Design of a PID control system for an electric-arc
synthesis equipment, April 2006)
Gregor
Goebel (topic: Adaptive actuator
failure detection for a spacecraft system model, June, 2010)
Thummaros
Rugthum (topic: Visual control
system analysis for improving mechanical accuracy in the system, April 2011)
Jonathan Williams (topic: Active vibration control in 3-axis
milling, April 2013)
Areas of Research
Adaptive
Control
Nonlinear
Control
Robust
Control
Multivariable
Control
Robotics
Optimal
Control
Intelligent
Computation
Research Topics
Control
of multivariable nonlinear systems with joint backlash, flexibility
and damping
Control
of sandwich nonlinear systems with smooth and nonsmooth
nonlinearities
Adaptive
control for systems with unknown nonsmooth nonlinearities such as
dead-zone, backlash, hysteresis in actuators and sensors
Control
algorithms for robotic systems to enhence robustness to modeling
errors and to improve performance under parameter changes
Developments
of advanced parameter estimation techniques to achieve faster
convergence for adaptive control and system identification
Multivariable
adaptive control designs for complex systems with high interactions
Adaptive
PID controllers in compensation for parameter variations
Adaptive
control of nonminimum phase systems
Adaptive
and robust control of magnetic bearing systems
Adaptive
and robust control of artificial heart pump systems
Adaptive
control of teleoperation systems
Application
of control theory to real-time scheduling for computer systems
Robust
adaptive control in the presence of uncertainties and failures
Robust
adaptive control techniques for morphing aircraft
Adaptive
control techniques for synthetic jet actuators with applications to
aircraft
Adaptive
control of spacecraft in the presence of fuel slosh
Adaptive
control techniques for sensor uncertainty compensation
Adaptive
control techniques for power systems
Adaptive
failure compensation techniques for robotic systems
Thesis Topics
Adaptive
Actuator Failure Compensation
Actuator failures may cause
severe problems in control systems, such as flight control, process
control, and power systems. Actuator failure compensation is an
important research topic of both theoretical and practical
significance. It is desirable that a control system is able to
compensate actuator failures, by using the remaining actuation to
accomplish a desired control task. Adaptive control is capable of
accommodating system parametric, structural, and environmental
uncertainties, and it is suitable for control of systems with
actuator failures which are usually unknown in terms of failed
actuators, failure time instants, and failure values. This thesis
project is to use adaptive algorithms for control of systems with
both unknown plant parameters and actuator failure parameters. The
objective is to learn and apply adaptive control theory to some
advanced application examples such as process control and power
systems. Strong interest and good background in system modeling,
analysis, and simulations are needed.
Research Sponsors
National
Science Foundation (project: adaptive inverse control of systems
with practical nonsmooth nonlinearities)
National
Science Foundation (project: discovery driven manipulation of
nonrigid objects)
Potomac
Edison Company (project: advanced techniques for wheelchair control)
Southeastern
Center for Electrical Engineering Education (project: control of
sandwich systems with backlash and flexibility)
National
Science Foundation (project: adaptive control of sandwich nonlinear
systems with applications)
US
Amry and Techno-Sciences Inc. (project: adaptive control of systems
with discontinuous nonlinearities)
National
Aeronautics and Space Administration (project: robust adaptive
control in the presence of uncertainties and failures)
MedQuest
Products (project: artificial
heart pump)
Utah
Artificial Heart Institute (project: a continuous flow centrifugal
ventricular assist device)
National
Science Foundation (project: feedback control real-time scheduling)
[B1]
G. Tao and P. V. Kokotovic, Adaptive Control of Systems with
Actuator and Sensor Nonlinearities , John Wiley & Sons, 1996
(ISBN 0-471-15654-X; TJ217.T36 1996)
[B2]
G. Tao and F. L. Lewis, Eds., Adaptive
Control of Nonsmooth Dynamic Systems,
Springer, 2001 (ISBN 1-85233-384-7; TJ217.A319 2001)
[B3]
A. Taware and G. Tao, Control
of Sandwich Nonlinear Systems,
Springer, 2003 (ISBN 3-540-44115-8; TA 342.T43)
[B4]
G. Tao, Adaptive
Control Design and Analysis,
John Wiley & Sons, 2003 (ISBN 0-471-27452-6; TJ217.T34 2003)
[B5]
G. Tao, S. H. Chen, X. D. Tang, S. M. Joshi, Adaptive
Control of Systems with Actuator Failures,
Springer, April, 2004 (ISBN 1-85233-788-5)
[B6]
G. Tao and J. Sun (editors), Advances
in Control Systems Theory and Applications,
USTC Press, 2009 (ISBN: 978-7-312-02238-8)
[B7]
F. Y. Chen, G. Tao and B. Jiang, Adaptive Control,
Science Press, 2015 (in Chinese).
[B8]
R. Y. Qi, G. Tao and B. Jiang, Fuzzy System Identification and Adaptive Control,
Springer, 2019.
[B9]
D. Deb, J. O. Burkholder and G. Tao, Adaptive Control and Diagnostics for Systems with Complex, Nonlinear Actuator and Sensor Systems,
Springer, 2022.