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The University of Southampton

Research project: Nonlinear and Adaptive Control with Applications to Electromechanical Systems.

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The objective of this project is to develop advanced nonlinear and adaptive control methodology with a focus on applications to electromechanical systems.

Nonlinearities exist in most dynamical systems in nature. While linearization is a successful common approach in both analysis and design of such systems in practice, this approach has limitations due to the increase in complexity of the dynamics and the demand of high precision control in various applications to achieve satisfactory performance and safety requirement.

This research contributes to the development of nonlinear control of systems, and it will focus on a class of systems whose dynamics can be represented by a certain structure, namely a Hamiltonian structure. The port-controlled Hamiltonian (PCH) modelling framework is adopted, and it will be particularly devoted to a class of electromechanical systems. Among several nonlinear control approaches, passivity-based control (PBC) is the most convenient approach to PCH framework. Various dynamical systems to be controlled have both parametric and dynamic uncertainties that robustness of the control algorithm is necessary; in this regard, adaptive control of PCH systems will be the main focus of this research.

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