Research Terms
Keywords
Famu-Fsu College Of Engineering
L. Lu, C. Ordonez, E. G. Collins, Jr., E. Coyle, and D. Palejiya, “Terrain Surface Classification with Control Mode Update Rule Using a 2D Laser Stripe-Based Structured Light Sensor,” Robotics and Autonomous Systems, Vol. 59, No. 11, 2011, pp. 954 - 965, available online at http://dx.doi.org/10.1016/j.robot.2011.06.015.
L. Wang, E. G. Collins, Jr., H. Li, “Optimal Design and Real Time Control for Energy Management in Electric Vehicles,” IEEE Transactions on Vehicular Technology, pp. 1419 – 1429, May 2011.
C. Ordonez, O. Y. Chuy, Jr., E. G. Collins, Jr., and X. Liu, “A Laser Based Rut Detection and Following System for Autonomous Ground Vehicles,” Journal of Field Robotics, July 2010, available online at http://dx.doi.org/10.1002/rob.20352.
W. Yu, O. Y. Chuy, E. G. Collins, Jr., and P. Hollis, “Analysis and Experimental Verification for Dynamic Modeling of a Skid Steered Vehicle,” IEEE Transactions on Robotics, Vol. 26, No. 2, pp. 340-353, April 2010. (Available at http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5427035.)
American Society of Mechanical Engineers, Member; 1995 - present
Institute of Electrical and Electronic Engineers, Member; 1982 - present
National Society of Black Engineers, FAMU-FSU College of Engineering Chapter, Board of Advisors; - present
IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers; 1992 - 2001
Dynamic Systems and Control, National Science Foundation
Momentum Based Trajectory Generation for a One Link Manipulator with Heavy Loads; The Third Annual ARTSI Student Research Conference ; ARTSI (Advancing Robotic Technology for Societal Impact) Alliance; 2011
Issues and Progress in the Development of Smart, All Terrain Autonomous Ground Vehicles; Army Soldier Equipment Expo; US Army; 2011
Motion Planning Using Dynamic Models; CMU Robotics Institute Seminar; Carnegie Melon University; 2009
In the present invention, different circuit-based implementations of stochastic anti-windup PI controllers are provided for a motor drive controller system. The designs can be implemented in a Field Programmable Gate Arrays (FPGA) device. The anti-windup PI controllers are implemented stochastically so as to enhance the computational capability of FPGA. The invention encompasses different circuit arrangements that implement distinct anti-windup algorithms for a digital PI speed controller. The anti-windup algorithms implemented by the circuit arrangements can significantly improve the control performance of variable-speed motor drives.
Compared with the existing technologies, the stochastic PI controller provides an efficient implementation approach that uses straightforward digital logic circuits but has the advantage of significantly reducing the circuit complexity. Therefore, the present invention notably improves the performance of the stochastic PI controller and saves digital resources in a motor drive control system. The immediate and/or future applications are motor drive controllers for induction motor systems, and more particularly, proportional-integral (PI) controllers. The use of the invention will increase the market of FPGA since the capability will be largely increased and the cost will be relatively reduced.
