Past Courses

Adaptive Control

Industrial Robotics

ISE 5314 (formerly ISE 5984), Fall semesters 2019--2021

This course is aimed to introduce graduate students to the dynamics, the path planning, the trajectory planning and the control of robotic manipulators. Elements of computer vision are presented as well. Special emphasis is given to the study of robotic systems that operate in complex and dynamic environments, such as industries, where precision, repeatability, and safety are essential.

Nonlinear Dynamical Systems and Control

AME 5790/4970, Fall semesters 2016 & 2018, The University of Oklahoma (OU)

The goal of this course is to analyze dynamical systems, whose dynamics is captured by sets of nonlinear ordinary differential equations (ODEs). After a detailed discussion on necessary and sufficient conditions for the existence of solution of ODEs, Lyapunov stability theory as well as partial-state stability theory are discussed at length. In the second part of the course, popular control techniques, such as backstepping, sliding mode control, model reference adaptive control, and feedback linearization are discussed at length.

Linear and Nonlinear Robust Control

AME 5790/4970, Spring 2019, OU

This course is aimed to present several control design techniques for linear and nonlinear dynamical systems. In the first part of this course, the H₂, H_∞, and mixed-H₂/H_∞ control techniques are presented. In the second part of this course, sliding mode control, robust adaptive control techniques, such as the e-modifical of model reference adaptive control, and adaptive sliding mode control are presented. Numerous engineering applications will be illustrated.

Optimization and Optimal Control

AME 5790/4970, Spring 2018, OU

In the first half of this course, students are introducted to convex optimization problems, such as linear, quadratic, and geometric programming. Special emphasis is given to the notion of duality and the KKT conditions of optimality. In the second part of the course, necessary and sufficient conditions for optimal control of dynamical systems are presented. Analytical and numerical examples presented in class are inspired by practical engineering applications.

Advanced Dynamics & Control of Mechanical Systems

AME 5790/4970, Fall 2017, OU

The goal of this course is to introduce students to advanced techniques to model and control multi-body systems, such as robotic manipulators and bio-inspired robotic systems. At the end of the semester, students will be able to apply their knowledge to practical engineering problems by modeling and designing controllers for autonomous mechanical systems. This class is offered to senior year undergraduate students and graduate students in aerospace and mechanical engineering, mathematics, and physics.

Flight Controls

AME 5513/4513, Fall semesters 2015-2018, OU

The goal of this course is to provide an introduction to fight dynamics and control. At the end of the semester, students will be able to apply their knowledge to practical aerospace engineering problems and learn more about flight dynamics and control through independent study. This class is offered to senior year undergraduate students and first year graduate students, since it requires students to apply some of the knowledge gained in calculus, dynamics, and aerospace controls.