|
FOLLOW US ON
|
Return to Faculty DirectoryKrishnaprasad, P. S.
Research Interests
Geometric control theory and filtering theory; control of infinite dimensional systems; model reduction; dynamics of nonholonomic systems with symmetries; dynamical systems on Lie groups and optimal trajectory generation
Intelligent control architectures for complex systems inspired in part by biological paradigms such as central pattern generators, and space maps associated to auditory and other sensory modalities; learning binaurally directed movement; sensorimotor feedback in echo-locating bats; hybrid models for networks of sensors and actuators; languages for motion control
Problems of modeling, design, motion planning and control, arising in mobile robotics and robotic manipulation; sensors and actuators for robotic end-effectors; motion control for nonholonomic robots; under-actuated autonomous robotic vehicles; GPS-aided navigation of mobile robots
Dynamics and control of formations, swarming and related biological phenomena; acoustics and biological signal processing; pursuit phenomena and prey capture behavior in nature; evolutionary game-theoretic basis for strategies of pursuit
Background
P.S. Krishnaprasad received his Ph.D. degree from Harvard University in 1977. He was on the faculty of the Systems Engineering Department at Case Western Reserve University from 1977 to 1980. He has been with the University of Maryland since August 1980, where he has held the position of Professor of Electrical Engineering since 1987, and a joint appointment with the Institute for Systems Research since 1988. He is also a member of the Applied Mathematics Faculty.
Krishnaprasad has held visiting positions with Erasmus University (Rotterdam); the Department of Mathematics, University of California, Berkeley; the University of Groningen (the Netherlands); the Mathematical Sciences Institute at Cornell University; and the Mechanical and Aerospace Engineering Department at Princeton University.
Krishnaprasad's research interests lie in the broad area of geometric control theory and its applications. His contributions include geometry of parametrization problems in linear systems, the Lie algebraic foundations of certain nonlinear filtering problems pertaining to system identification, the Lie theory and stability of interconnected mechanical systems (e.g., spacecraft with elastic attachments, spinning rotors, and fluid-filled cavities), and symmetry principles in nonlinear control theory. He has also investigated mathematical problems in the kinematics and control of robot manipulators, the real-time control of flexible robot arms with end-point sensing, tactile perception, and the development of symbolic algebraic tools for design and control. In the last several years, his interests have drawn him to: problems of modeling, design, motion planning and control, arising in mobile robotics (legged and wheeled vehicles, autonomous underwater vehicles and autonomous aircraft); geometric methods in nonlinear dynamics; wavelet analysis for signals and systems; intelligent control architectures, in part inspired by biological paradigms such as central patterns generators and neural networks; the technology and theory of smart materials such as piezo-electric and magnetostrictive materials for use in actuation and sensing; problems of integration of actuators and sensors in control networks; and modeling, simulation, monitoring and control in semiconductor manufacturing processes, such as rapid thermal chemical vapor deposition.
A central interest in geometric control theory, geometric mechanics, Lie groups, and distributed parameter systems, guides the technical approaches taken to attack problems in the above areas. Additionally, some of this work is also linked to the experimental efforts in the Intelligent Servosystems Laboratory. In the area of semiconductor processing, experimental efforts are being explored with collaborating University and Industry partners.
P.S. Krishnaprasad was elected a Fellow of the IEEE in 1990 for his contributions to geometric and nonlinear control and engineering education. He also was appointed a 1998-2000 Distinguished Faculty Research Fellow of the University of Maryland. He was the Munich Mathematical Colloquium Lecturer on October 24, 2006, at the Technical University of Munich and is the recepient of the Hendrik W. Bode Lecture Prize for 2007 from the IEEE Control Systems Society, for distinguished contributions to control systems science and engineering. He presented the Bode Lecture on December 14, 2007 at the IEEE Conference on Decision and Control.
Honors and Awards
Fellows
Institute of Electrical and Electronics Engineers, 1990
Other Awards
IEEE Control System Society's Hendrik W. Bode Lecture Prize, 2007 | view video of lecture |
University of Maryland Awards
Distinguished Faculty Research Fellow, 1998
Links
Patents
Research Awards
Research Posters
- From Geometric Control to Collective Behavior
- Directed Graphs and Motion Description Languages for Robot Navigation
- Dynamic Sound Localization
- Formation Dynamics under a Class of Control Laws
- Control of a Magnetostrictive Actuator with Application to Micropositioning
- Behaviors of Multi-Robot Teams in MDLe
- The MDLe Project: Towards a Universal Language for Sensor-based Feedback Control
- Echolocating bats use different pursuit strategies in different contexts
- Neural Systems Laboratory
- Sensor Network Platform Positioning with Cyclic Pursuit
- Sensor Network Platform Positioning using Mutual Motion Camouflage
- Modeling and Simulation of Pursuit Control Laws in Bat Prey Capture
- Motion camouflage with sensorimotor delay
- Motion camouflage in a stochastic setting
- Optical Alignment for Intersatellite Optical Communication
- Optimal Detection of OOK Signals over Free Space Optical Channels
- Experimental Study of Curvature-based Control Laws for Obstacle Avoidance
- Simultaneous Diagonalization for Blind Signal Processing
- Swarms in Three Dimensions
- Vision-Based Control of an Inverted Pendulum on a Rotating Platform