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Jay A. FarrellProfessor,
July 2001 - present Farrell at ee . ucr . edu |
Biography CV
Jay A. Farrell received his M.S. and Ph.D in Electrical Engineering from the University of Notre Dame in 1988 and 1989 respectively. He received B.S. degrees in both Electrical Engineering and Physics from Iowa State University in 1986. Prior to joining the faculty at UCR, he was a Senior Member of the Technical Staff at the Charles Stark Draper Laboratory.
Research
- Learning Control Systems: Learning control is used in situations where high performance control is desired for a nonlinear system and the functional form of some nonlinearities in the dynamic model are unknown. In this situation, the designer selects from a class of generic function approximators to develop a nonlinear dynamic model. The learning control problem is studied under a variety of names: adaptive fuzzy control, neural control, nonparametric nonlinear adaptive control, etc. This area, especially as an experimental field, grew quickly in the 1980's for two reasons: computing power became inexpensive and there are many suitable applications. My current interests in this area focus on conditions necessary to guarantee good repeatable performance. My recent work has focused on desired approximator properties, and conditions for exponential stability of both the state and approximator parameters.
- Autonomous Vehicles: This portion of my research currently has two directions: Intelligent Transportation Systems and Chemical Plume Tracing.
- By increasing the level of vehicle autonomy, Intelligent Transportation System (ITS) research hopes to increase highway throughput and safety. Our research is currently focusing navigation and advanced maneuvering for lateral vehicle control. This research is sponsored by CA PATH through Caltrans. To see photos and movies of the instrumented PATH vehicle and test participants click on this click on this link.
- The Chemical Plume Tracing Program is sponsored by ONR/DARPA. The goal is to solve the mapping, planning, and guidance problems required to enable autonomous vehicles to trace chemical plumes to the odor source. Applications include searching for unexploded underwater ordinance, sources of pollution, or biologically interesting phenomena. Photos, movies, and additional project information is contained in the following link: ONR Chemical Plume Tracing.
- CETUS
data is available for anonymous download at Data files.
Secure data upload is available at UPLOAD - Matlab simulation software and papers describing the theory for command filtered backstepping applied to a land vehicle are downloadable here.
- Global Positioning Systems: Accurate vehicle control requires reliable, accurate, high rate vehicle state information. We have developed and demonstrated a differential GPS/INS system to provide full six degree of freedom vehicle state information. Using GPS carrier phase and/or magnetometer measurements, we currently attain 2.5 cm. std. horizontal position accuracy. The INS provides the estimates at a higher rate (>150Hz) than the GPS itself is capable of providing. In addition, the INS maintains the vehicle state during brief periods of loss of GPS signal. Vehicle control experimental results are described in the following reports:
To see photos and movies of the instrumented PATH vehicle and test participants click on this click on this link.
2008 MSC Plenary Presentation
The presentation and references to the September 5,
2008 presentation entitled “Vehicle
Autonomy and Intelligent Control: Where are we and What Lies Ahead?” can be
found in this folder.
Publications
See CV
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Click here for the appendices to the Automatica article “Localized Adaptive Bounds for Approximation Based Backstepping” by Y. Zhao and Jay A. Farrell.
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Click here for the simulation simulation results for the paper “Land Vehicle Control Using Command Filtered Backstepping Approach” by Djapic, Farrell, and Dong.
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Click here for the simulation files related to the paper “Land Vehicle Control Using Command Filtered Backstepping Approach” by Djapic, Farrell, and Dong.
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For updates and corrections to the book:
- Farrell, J. A and M.
Barth. "The Global Positioning System and Inertial
Navigation: Theory and Practice."
January 1999. ISBN-0-07-022045-X. McGraw-Hill.
click here to download the faq in pdf format.
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A faq and files to support:
- Farrell, J. A.
"Aided Navigation: GPS with High Rate Sensors."
2008. ISBN: 978-0-07-149329-8. McGraw-Hill.
Course Materials
All course specific information is available through I-Learn