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Nonlinear Control Design for Advanced Vehicle Systems

Rapid advances in computing and communications are making it possible to introduce more and more autonomous capabilities in vehicles operating on the ground, in the air, in space, at sea, and even underwater. These capabilities can be utilized to enhance the performance and safety of individual vehicles as well as to operate vehicles in formations for specific purposes. In order to realize this untapped potential, control must play a central and critical role. In this context, control includes not just the algorithms themselves, but also the sensors and actuators that connect the computers to the physical system. This talk will describe recent research in the Adaptive and Nonlinear Systems Laboratory at UCLA (, which has been focusing on several aspects of the autonomous vehicle problem, from nonlinear control design and sensor development to the creation of the advanced IDSE environment (Integrated Design, Simulation, and Experiment). We will also discuss the development and fabrication of a unique experimental electric vehicle called SMARTREV (Single-occupant, Multi-sensor, Actively-controlled, Remotely-tracked, Traction-adjustable Research and Education Vehicle), which is being used as an experimental platform for research on autonomous vehicles and for student class projects on systems design.

Type of Seminar:
Special Series on Nonlinear Systems
Prof. Ioannis Kanellakopoulos
Department of Electrical Engineering, University of California, Los Angeles, USA
Apr 07, 1999   9:00

ETH Zurich, Building VAW, Room B1, Gloriastrasse 37-39, 8006 Zurich
Contact Person:

Prof. M.Morari
No downloadable files available.
Biographical Sketch:
Ioannis Kanellakopoulos received the Diploma in Electrical Engineering from the National Technical University of Athens, Greece, in 1987, and the M.S. and Ph.D. degrees in Electrical Engineering from the University of Illinois at Urbana-Champaign in 1989 and 1992. Since July 1992 he has been with the Department of Electrical Engineering, University of California, Los Angeles, where he is currently an Associate Professor and Vice Chair for Computer Systems. His research interests include adaptive and nonlinear control theory with applications to advanced vehicle control systems, intelligent transportation systems (ITS), autonomous vehicles, and electric motors. Current projects in his research group at UCLA include theoretical research on global adaptive designs for discrete-time uncertain nonlinear systems and global observer-based designs for continuous-time nonlinear systems with incomplete state measurement, as well as experimental projects involving the design and construction of a prototype electric vehicle, novel ranging sensors for ITS applications, and the instrumentation and operation of a Class-8 18-wheel tractor-trailer combination vehicle. More information about these research activities can be found in the Website of the UCLA Adaptive and Nonlinear Systems Laboratory ( Dr. Kanellakopoulos received the 1983 Heroes of Polytechneion Award from the National Technical University of Athens for ranking first in the Panhellenic University Entrance Examination, the 1993 George S. Axelby Outstanding Paper Award of the IEEE Transactions on Automatic Control (with Professors Kokotovic and Morse), a 1993 Research Initiation Award and a 1995 CAREER Award from the National Science Foundation, the 1996 AlliedSignal Faculty Research Award from the UCLA School of Engineering and Applied Science, a 1997 Honorable Mention as an Eta Kappa Nu Outstanding Young Electrical Engineer, and the 1998 Donald P. Eckman Award of the American Automatic Control Council.