Attila Magyar, PhD, Associate Professor
Robotics is a subject that is included in the syllabus of engineering information technologists, electrical engineers and mechanical engineers also. Accordingly, it serves as a general introductory subject. Because of the diversity of the field emphasis is placed on mobile robotics, especially on dynamic modeling, trajectory planning, control, localization and navigation is discussed in detail.
In the basic level of research undergraduate students are involved. A wide range of robotic topics are covered including robot soccer, SLAM, and also Android based quadrocopter control.
A higher level of research is performed by PhD students in the area of analysis and control of general nonlinear systems. As opposed to linear system analysis and control (where the tools are originated from linear algebra) it is a difficult area. This is why it would be of great theoretical and practical importance to find a representation or system class which is general enough to tackle a wide range of nonlinear systems and at the same time it enables us to perform analysis and synthesis related tasks. The class of quasi-polynomial systems is a promising candidate since it is known that practically every system with continuously differentiable nonlinearity can be embedded into this form. A further advantage is the fact, that the form of Lyapunov function necessary for stability analysis is known for this system class. Moreover, the global stability analysis and globally stabilizing feedback design can be reformulated as the feasibility problem of a linear- and a bilinear matrix inequality, respectively. This enables us to use of efficient solver algorithms available nowadays.
The primary aim of our group is the development and investigation of modern control theoretic tools and methods that use the quasi-polynomial (or a similar) representation of the nonlinear system for dynamic analysis and control design. The main application areas are mechanical (robotic) systems and energetic systems.