M. Galicki

This study addresses the problem of finite-time control of the second under uncertain dynamic systems under normal and fully failure regime.
Based on a suitably defined non-singular terminal sliding manifold (TSM) and the Lyapunov stability theory, we derive a class of transposed Jacobian controllers, which seem to be effective in counteracting uncertain dynamics as well as actuator full failures that potentially occur in the dynamic system. Our approach can be directly applied in the case of actuator failures with partial loss of effectiveness. Compared to the existing literature, the proposed control scheme does not require the state reordering nor the state scaling. The numerical simulations carried out for a Youbot holonomic platform illustrate the performance of the offered controllers.

Biography:

Miroslaw Galicki is a professor and currently chair leader of Mechanical Engineering at Zielona Gora University, Poland.
Before, he was also a lecturer of Medical Statistics, Computer Science and Documentation at Friedriech Schiller University, Germany.
He received his diploma (M.Sc.) in Systems Theory and his Doctorate (Ph.D.) in Computer Science, in 1980 and 1984, respectively both from the Technical University of Wroclaw, Poland. His research interests include optimal control theory of non-linear dynamic systems described by ordinary differential equations, robust constrained control of both holonomic and non-holonomic mechanical systems and training algorithms for generalized dynamic neural networks. He has published over one hundred scientific papers mainly in the following journals: IEEE Automatic Control, IEEE Robotics, International Journal of Robotics Research, IEEE Signal Processing, IEEE Neural Networks, Mechanical Systems and Signal Processing, Mechanism and Machine Theory, Robotics and Autonomous Systems, Robotica

Address:Zielona Gora University, , Zielona Gora, Zachodniopomorskie, Poland