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Electrical and Computer Engineering

College of Engineering and Applied Science

Dr. John O'Brien's Research

> Visit Dr. O'Brien's webpage

> Download Dr. O'Brien's recent presentation on "Nonlinear Compensation for High Performance Feedback Systems with Actuator Imperfections"

 

University of Wyoming Electrical and Computer Engineering Faculty Dr. John O'Brien's research projectsControl Systems

High performance feedback systems are sensitive to variations in loop gain.  Rugged, inexpensive actuators that are well-suited for military and low-level industrial applications typically exhibit nonlinear behaviors that cause such destabilizing variations in the loop, thus eliminating them from consideration in high performance feedback applications.  Research at UW seeks to eliminate this exclusion through the development of multiple-path nonlinear dynamic compensation that provides high performance and robustness in the presence of multiple, uncertain loop nonlinearities.   The approach has been successfully demonstrated on UW’s novel 2-arm parallel robotic system, and is to be expanded in a wider scope of robotic control applications.

 

University of Wyoming Electrical and Computer Engineering Faculty Dr. John O'Brien's research projects

A block diagram of a multiple-path nonlinear dynamic compensator.  Such systems working in concert with aggressive linear controllers deliver excellent performance despite multiple, uncertain nonlinearities in the loop.  The plot shows power spectral densities of closed loop responses to broadband disturbance.  The red function shows the response of the gain-increasing nonlinear compensator that provides best performance with no 16 Hz oscillations caused by loop nonlinearities.

     

 

 


 

University of Wyoming Electrical and Computer Engineering Faculty Dr. John O'Brien's research projectsElectrical Energy Systems

The DOE has declared a goal of 20% wind energy for US electricity needs by 2030.  This audacious goal will be realized only if several profound challenges are met.  One of these challenges is to improve wind turbine service lifetime, an increasingly difficult task as the wind turbine structures become larger and more flexible.  Dr. O’Brien has recently investigated single-input, two-output control designs incorporating real-time feedback exchange between channels to maximize performance despite limited available bandwidth.

University of Wyoming Electrical and Computer Engineering Faculty Dr. John O'Brien's research projects     University of Wyoming Electrical and Computer Engineering Faculty Dr. John O'Brien's research projects

SITO wind turbine control will smoothly shift feedback between channels to provide good performance despite bandwidth limitations of very large wind turbines.

 

University of Wyoming Electrical and Computer Engineering Faculty Dr. John O'Brien's research projectsRobotics

Dr. O’Brien collaborates with Dr. McInroy in the development and experimental testing of novel parallel kinematic machines.  The origin of this research dates back to their investigations at NASA Jet Propulsion Laboratory in the control of hexapod systems for vibration isolation on spaceborne interferometers.  Recently, a new class of parallel machines has been developed and tested for tracking applications on unmanned ground vehicles for the Air Force Research Lab, Tyndall.  Advanced actuation and control approaches developed in this investigation will be applied to new research on compliant robot actuation using UW’s newly acquired Baxter robot.

 

University of Wyoming Electrical and Computer Engineering Faculty Dr. John O'Brien's research projects

A two-arm parallel kinematic machine developed at UW for the AFRL, Tyndall.  Technology developed on this system will be applied in upcoming investigations using UW’s newly acquired Baxter robot.

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