Nyquist Lecture

Monday, October 6, 11:05 AM – 12:05 PM Grand Station I-II

Rajesh Rajamani
University of Minnesota

Title: From Theory to Practice: Nonlinear Observers Transforming Next-Generation Mechatronic Systems

Abstract: This talk presents recent results on nonlinear observers and their integrated use in modern mechatronic systems ranging from autonomous vehicles to wearable sensors.  First, a new observer design technique that integrates the classical high-gain observer with a novel LPV/LMI observer to provide significant advantages compared to both methods is presented. Second, a systematic extension of the high gain observer design methodology to account for sensor noise, accommodate algebraic constraints and allow for nonlinear measurement equations is presented.  Following the analytical observer results, three applications in modern mechatronic systems are discussed, including a wearable device for activity classification in Parkinson’s disease patients, autonomous cars designed for teleoperator remote intervention in the presence of large wireless communication latencies, and smart agricultural/construction vehicles that utilize inexpensive sensors for end-effector position estimation. The applications are accompanied by videos of prototype experimental demonstrations. One of these applications has been successfully commercialized through a start-up company which sells over 10,000 sensor boards each year.

Bio: Rajesh Rajamani obtained his M.S. and Ph.D. degrees from the University of California at Berkeley and his B.Tech degree from the Indian Institute of Technology at Madras.   He joined the faculty in Mechanical Engineering at the University of Minnesota in 1998 where he is currently the Benjamin Y.H. Liu-TSI Endowed Chair Professor and Associate Director (Research) of the Minnesota Robotics Institute.  His active research interests include estimation, sensing and control for smart and autonomous systems. 
Dr. Rajamani has co-authored over 195 journal papers and is a co-inventor on 20+ patents/ patent applications. He is a Fellow of IEEE and ASME and has been a recipient of the CAREER award from the National Science Foundation, the O. Hugo Schuck Award from the American Automatic Control Council, the Ralph Teetor Award from SAE, the Charles Stark Draper award from ASME, and a number of best paper awards from journals and conferences. 
Several inventions from his laboratory have been commercialized through start-up ventures co-founded by industry executives.  One of these companies, Innotronics, was recognized among the 35 Best University Start-Ups of 2016 by the US National Council of Entrepreneurial Tech Transfer.