In 1991, and again in 1996, Professor Yurkovich was awarded the Lumley Research Award by the College of Engineering at The Ohio State University (OSU), "in recognition of outstanding research accomplishments." Since coming to OSU in 1984, he has worked on theoretical and applied aspects in the areas of system identification, control of space structures, control of automotive brake systems, control of automotive powertrain systems, and identification and control of glass-furnace processes, welding processes, and flexible-link robotic systems.
In the following, the particular research interest areas are summarized.
Flexible-Link Robots:
Professor Yurkovich and his students are recognized for contributions in applied research for system identification and control of robotic mechanisms with flexible links. One of the main characteristics of this work has been the implementation of theoretically proven techniques, developed at OSU, for endpoint position control of mechanisms with very flexible links. The group's work has been published extensively, with several papers appearing in leading robotic and control journals, including: some of the first results incorporating acceleration feedback in controlling a flexible-link robot (experimental results); theoretical and experimental results for an innovative frequency-domain identification scheme for flexible-link systems; and, the first results incorporating an adaptive scheme for applying command shaping techniques to slewing flexible structures with varying loads. Recently this research has moved toward application of intelligent systems approaches (fuzzy control and expert supervisory control); several contributions of this latest work along these lines has recently appeared.
System Identification:
Professor Yurkovich and his students have made contributions in system identification for flexible mechanical structures (noted above), and to the area of parameter set estimation for system identification. This recent work (since 1991) has lead to an algorithm which has been shown to have desirable convergence properties among a large class of algorithms for optimally bounding the set of feasible parameters associated with a given system and observed data. Current work has yielded results in several important related areas: parameter set estimation for time-varying systems; input synthesis for parameter set estimation; robust control synthesis based on ellipsoidally bounded parameter set estimates; and, parameter set estimation for the problem of failure detection and estimation. Although these results are theoretical in nature, some have been tested on a laboratory apparatus, and the application to the failure detection problem has potential for significant practical importance. Work is now progressing in the area of nonlinear systems and with connections to fuzzy estimation techniques.
Automotive Systems Control:
Professor Yurkovich has been active in the area of automotive systems control since 1988. In particular, he has maintained a consistent program of contract research with Delco Moraine, Delco Moraine NDH, and Delco Chassis Divisions of General Motors on the problem of electric brake system control. This work progressed through simulation studies, to benchtop experimentation, to actual implementation on a vehicle at the Ohio Transportation Research Center in November 1991 and again in June 1993. This vehicle testing consisted of the group performing control algorithm evaluation within a vehicle supplied by Delco Chassis, and provided an experience rarely achieved in the university environment. He has obtained funding recently with colleagues for establishing an electric vehicle facility within the Department of Electrical Engineering at OSU, and has developed a course in Powertrain Control with funding from General Motors. Professor Yurkovich is also an appointed member of the Advisory Board for the Center for Automotive Research at Ohio State, and the Education Thrust Area leader.
Fuzzy Control Thoery and Applications:
Professor Yurkovich has devoted a significant portion of his research efforts in recent years to the theory and application of fuzzy control systems and recently for fuzzy systems in estimation and system identification. As a result, he has been presenting workshops and tutorials, alone and with another colleague, over the past several years, focusing on the control perspective to fuzzy systems. The presentation of theory in the workshops is complemented by results of several applications (in simulation and on actual hardware apparatus), much of which has appeared in conference and journal articles. As research progresses, the material presented in these tutorials has expanded and has been progressively updated.
A list of recent selected publications is available.
Latest update: February 1998