## Advisor

Gang Tao, Ph.D.,Professor of Electrical Engineering## Research Overview

## Graduate Students

## Collaborators

## Undergraduate Students

## Areas of Research

## Research Topics

## Thesis Topics

## Research Projects

## Research Sponsors

## Books

## Journal Papers and Book Chapters

## Conference Papers

## Technical Reports and Invited Talks

## Interesting Links

AdvisorGang Tao, Ph.D.

Professor of Electrical Engineering, University of Virgina

Fellow of IEEE

Graduate Students

- Magdy A. Abadir (Ph.D. student; topic: Adaptive control of power systems with uncertainties and failures)
- Paul W. Austin (M.E., 1995, project: Study of 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; project: Adaptive multiple-model control)
- Shuhao Chen (Ph.D., 2004; topic: Adaptive control of linear systems with actuator failures)
- 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; 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; Adaptive control schemes for three-phase grid-connected inverters in photovoltaic power generation systems)
- Kai Jia (M.E., 2012; Feedback Compensation and detection of actuator failures)
- Zackary Knoll (M.S., May 2015; 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, project: Nonlinear control of robot manipulators)
- Xi Luo (M.E., 2011; Adaptive systems and control)
- 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., in progress; 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)

- Prabhu Jude Rajendran (M.S., 2007; A smart and passive floor-vibration based fall detector)
- Korey Rankin (M.S., May 2014; Adaptive control of aircraft under icing conditions)

- Gray D. Roberson (M.S., 2000; topic: Adaptive sway control design and simulation for an industrial crane system)
- Cameron B. Ruddy (M.E., 1994, project: Integrated intelligent artillery systems)
- Thummaros Rugthum (M.S.; 2014; Adaptive actuator failure compensation for a robotic system)
- Thummaros Rugthum (Ph.D., 2017; 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; Tethered uni-rotor network: design, modeling, control, and simulation for a novel eternal flight system)
- Minyan Shi (Ph.D., 1999; topic: Robot teleoperation with medical applications)
- Charu Singhal (M.S., 2010; 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; Multivariable adaptive control for distributed leader-following consensus of multi-agent systems)

- 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; Modeling and control of battery systems)
- Chi Zhang (M.S., 2015; 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)

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, ``Design of an inexpensive robotic system for use in hazardous environment scenarios,'' March 2003.
- Hesham M. Shageer, ``An Adaptive Controller for A Power System Model,'' August 2004.
- Benjamin Mott, ``Design of An Adaptive Autocalibration Systems for Sensor Networks,'' April 2005.
- Ilya D. Vugmeyster, ``Adaptive control of a magnetically suspended beam with actuator failures,'' April 2005.
- Timothy Staley, ``Design of a PID control system for an electric-arc synthesis equipment,'' April 2006.
- Gregor Goebel, ``Adaptive actuator failure detection for a spacecraft system model,'' June, 2010.
- Thummaros Rugthum, ``Visual Control System analysis for improving mechanical accuracy in the system,'' April 2011.
· Jonathan Williams, ``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 TopicsAdaptive 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 projects

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)

Books

- [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)

Journal Papers and Book Chapters

Conference Papers

Technical Reports and Invited Talks

Last modification date: 08/09/2017.