Automatic Control (AC) at ECE Prof. Jianghai Hu jianghai@purdue.edu

What is Control? Use of algorithms and feedback to affect the operation of physical objects/processes of interest to achieve some desired performance Environmental Perturbations User Input Controller Actuator Input Physical Objects: Plant, Process, System output Sensor

Example: Cruise Control Environmental disturbances (road condition, wind, etc.) Controller Desired speed Input Output Measured speed (throttle angle u) Sensor (speedometer) Display (speed y) Actuator (engine) Controlled object (car) Control Problem: to maintain car speed at a desired level

Example: Thermostat Turning on/off heater/cooler to maintain the room temperature at a pre-specified level

Example: Robotic Arm Control the voltage applied on the motors so that the robot hand moves along a specified trajectory (and grasps some object)

Examples of Control Systems Robotics Vehicle Control Network Control Process Control Building Control (Air) Traffic Control

Example: Biological Control

Control is Everywhere Electrical, mechanical, electromechanical sys. Aeronautical and astronautical systems Ecological, biological systems Financial, economic systems Social systems

What is Studied in Control Control Theory Linear, nonlinear control Robust control Adaptive control Optimal control Hybrid systems Intelligent control Stochastic control Sliding mode control Networked control Control Applications Power/energy system control Hybrid electrical vehicles Intelligent transportation sys. Control of communication and network systems Building control Smart grids VLSI design optimization Biological systems And more… Robotics Humanoid robots Mobile robot sensor network Multi-robot interaction Human-robot interaction Fault tolerant robotics Healthcare robots Learning algorithms Image processing Cognitive robots

Undergraduate Control Courses ECE 382---Feedback System Analysis and Design ECE 308---Systems Simulation and Control Laboratory ECE 483---Digital Control Systems Analysis and Design ECE 569---Introduction to Robotic Systems

AC Faculty in ECE Primary AC Members: Affiliated AC Members: Balakrishnan, Ragu DeCarlo, Ray A. Żak, Stanislaw H. Lee, C. S. George Hu, Jianghai Affiliated AC Members: Sundaram, Shreyas Sudhoff, Scott D. Pekarek, Steve Aliprantis, Dionysios

Current AC Research Control theory Adaptive/Robust control (Prof. Żak, Balakrishnan) Optimal control and optimization (Prof. Balakrishna, Żak, Decarlo, Hu) Intelligent control (Prof. Lee, Balakrishnan, Żak) Hybrid Control (Prof. Decarlo, Hu) Networked systems (Prof. Sundaram, Prof. Hu) Game theory and security of control systems (Prof. Sundaram, Prof. Hu)

Current AC Research Control Application Control in Communication Networks (Prof. DeCarlo) Numerical optimization in VLSI (Prof. Balakrishnan, Żak) Energy efficient building control (Prof. Hu) Social & opinion dynamics (Prof. Sundaram) Hybrid electrical vehicle (Prof. Decarlo, Pekarek, Aliprantis) Power and energy conversion systems (Prof. Pekarek, Sudhoff, Żak)

Current AC Research Robotics (Prof. Lee) Humanoid robotics Human-robot interaction Mobile robotic sensor networks Healthcare robots

Multi-Agent Control: Flocking A set of agents wish to cooperate to achieve certain tasks In the above example, they all wish to circle a given point at the same altitude Each agent can only interact with its neighbors in the network How should the agents update their altitudes so that they all converge to a common altitude?

Network Science (Prof. Sundaram) Power Grid Internet (2006) Research questions: What is the structure of complex networks? What makes them robust or vulnerable to failures and attacks? How do we control the dynamics of these networks? How do we model network formation? Social Network Mouse Gene Network Credits: Nature, Sentinel Visualizer, University of Birmingham Distributed Systems and Networks Lab, Urban Ecoist