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Meeting	ACGS Committee Meeting 115 - Portland, OR - March 2015
Agenda Location	6 SUBCOMMITTEE E – FLIGHT, PROPULSION, AND AUTONOMOUS VEHICLE CONTROL SYSTEMS 6.3 Indirect Manifold Construction Approach for Control of Nonlinear Non-Minimum Systems
Title	Indirect Manifold Construction Approach for Control of Nonlinear Non-Minimum Systems
Presenter	Anshu Narang-Siddharth
Affiliation	U. of Washington, Seattle
Available Downloads*	presentation
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Abstract	Speaker Biography: Anshu Narang is an Assistant Professor in the William E. Boeing Department of Aeronautics & Astronautics at University of Washington. She earned her B.Tech in electrical and electronics engineering (with honors) from Jawaharlal Nehru Technological University, Hyderabad, a M.S in aerospace engineering from the Indian Institute of Technology, Madras (IITM) and a Ph.D in aerospace engineering department from Texas A&M University. Dr. Narang’s doctoral research received three awards from Texas A&M University: 1. the Outstanding Achievement Award in Dynamics and Control; 2. the Outstanding PhD Graduate Student Award in the Department of Aerospace Engineering, and 3. the Distinguished Graduate Student Award for Excellence in Research from Texas A&M Association of Former Students (given to upto 5 students from a group of 10,000). She is the author of the research monograph titled “Nonlinear Time Scale Systems in Standard and Nonstandard Forms: Analysis & Control” published in the premier Advances in Control and Design Series by SIAM. She is also the recipient of Tata Consultancy Services –IITM best in class fellowship for best thesis proposal, and the 2011 Zonta International Amelia Earhart Fellowship. Her current research interests are singular perturbation theory, nonlinear flight control and bifurcation methods with applications to autonomous aerospace and ground transportation systems. Abstract: This talk will summarize recent theoretical breakthroughs in real-time safe control of nonlinear non-minimum phase systems through a benchmark X-29 example. Typical nonlinear feedback methods have fundamental stability limits when the internal dynamics of the system are unstable. This presentation will discuss that this limit arises because prevailing feedback designs fail to address the existence of a continuum of internal state solutions (known as the nonstandard behaviour). Indirect Manifold Construction (IMC) approach overcomes this limit by converting the output command following problem into an output and internal state command following problem. It is a nonlinear feedforward/feedback control technique that (i) works on both minimum and non-minimum phase systems, (ii) applies to output command following and stabilization, (iii) provides a rigorous procedure for tuning feedback gains, (iv) uses little information about zero locations, and (v) does not ignore translational-rotational dynamics coupling. The essential ideas will be illustrated in this talk through several examples including acceleration control of a tail-controlled missile and autonomous hover control of an unmanned helicopter. This last example will show that arbitrary feedback gain selection is not feasible (has a 70% chance of inducing instability) and the developed design tool is crucial.