Manfredi Maggiore

Professor

Systems Control Group

Department of Electrical and Computer Engineering

University of Toronto

10 King's College Road

Toronto, Ontario

Canada M5S 3G4

E-mail: maggiore (at) control.utoronto.ca.

Bio and Research Interests

I received my Laurea degree in Electronic Engineering from the University of Genoa, Italy, in 1996 and my Ph.D. degree in Electrical Engineering from the Ohio State University, USA, in 2000, working with Kevin M. Passino. In September 2000, I joined the Systems Control Group at the University of Toronto.

I work in the area of nonlinear control, focusing on the basic open problems in this field. My research approach is mathematical in nature and relies on methods from dynamical systems theory and differential geometry. Currently, my research focuses on the set stabilization problem and its relationship to path following. In collaboration with Luca Consolini at the University of Parma, Italy, I am also developing a theory of virtual holonomic constraints for mechanical systems.

On the experimental side, I enjoy a fruitful collaboration with Jacob Apkarian at Quanser. Together with my students, we developed a high-precision, magnetically levitated positioning stage. Currently, we are developing a novel autonomous co-axial helicopter.

Teaching

ECE311 Dynamic Systems and Control Fall 2014
ECE470 Robot Modeling and Control Winter 2015
ECE1647 Introduction to Nonlinear Control Systems Fall 2014

Current Students

Thesis topic
Alireza Mohammadi (Ph.D.) Virtual holonomic constraints
Edoardo Serpelloni (Ph.D.) (with Chris Damaren) Coordination of nanosatellites
Ashton Roza (Ph.D.) (with Luca Scardovi) Formation control of rigid bodies in SE(3)
Xingbo Wang (M.A.Sc.)  
 

Selected Recent Publications and Preprints

Click here for a full list of publications

Stabilization of Closed Sets

M. El-Hawwary, M. Maggiore, Reduction Theorems for Stability of Closed Sets with Application to
Backstepping Control Design
, Automatica, vol. 49, no. 1, 2013, pp. 214--222
M. El-Hawwary, M. Maggiore, Case Studies on Passivity-Based Stabilization of Closed Sets, International Journal of Control, vol. 84, no. 2, pp.336-350, 2011
M. El-Hawwary, M. Maggiore, Reduction Principles and the Stabilization of Closed Sets for Passive Systems, IEEE Transactions on Automatic Control, vol. 55, no. 4, 2010, pp. 982-987
M. El-Hawwary, M. Maggiore, Reduction Principles and the Stabilization of Closed Sets for Passive Systems, arXiv:0907.0686v1
C. Nielsen, M. Maggiore, On Local Transverse Feedback Linearization, SIAM Journal on Control and Optimization, vol. 47, no. 5, 2008, pp. 2227-2250
C. Nielsen, M. Maggiore, Output Stabilization and Maneuver Regulation: A Geometric Approach, Systems and Control Letters, vol. 55, no. 5, pp. 418–427, 2006.

Path Following

A. Roza, M. Maggiore, Path Following Controller for a Quadrotor Helicopter, American Control Conference, Montreal, Canada, 2012
L. Consolini, M. Maggiore, C. Nielsen, M. Tosques, Path following for the PVTOL aircraft, Automatica, vol. 46, 2010, pp. 1284-1296
C. Nielsen, C. Fulford, M. Maggiore, Path Following Using Transverse Feedback Linearization: Application to a Maglev Positioning System, Automatica, vol. 46, 2010, pp. 585-590.

Virtual Holonomic Constraints

M. Maggiore, L. Consolini, Virtual Holonomic Constraints for Euler-Lagrange Systems, IEEE Transactions on Automatic Control, vol. 58, no. 4, 2013, pp. 1001–1008
L. Consolini, M. Maggiore, Control of a Bicycle Using Virtual Holonomic Constraints, Automatica, vol. 49, no. 9, pp. 2381- 2389, 2013, arXiv:1305.5794v1
D. Jankuloski, M. Maggiore, L. Consolini, Further Results on Virtual Holonomic Constraints, 4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, Bertinoro, Italy, 2012.
D. Jankuloski, M. Maggiore, L. Consolini, Synchronizing N cart-pendulums using Virtual Holonomic Constraints, American Control Conference, Montreal, Canada, 2012
L. Consolini, M. Maggiore, On the Swing-Up of the Pendubot Using Virtual Holonomic Constraints, IFAC World Congress, Milano, Italy, 2011
L. Consolini, M. Maggiore, On the Swing-Up of the Pendubot Using Virtual Holonomic Constraints, IEEE Conference on Decision and Control, Orlando, Florida, USA, December 2011
L. Consolini, M. Maggiore, Virtual Holonomic Constraints for Euler-Lagrange Systems, Symposium on Nonlinear Control Systems (NOLCOS), Bologna, Italy, September 2010

Distributed Control

M. El-Hawwary, M. Maggiore, Distributed Circular Formation Stabilization for Dynamic Unicycles, IEEE Transactions on Automatic Control, vol. 58, no. 1, 2013, pp. 149--162
Z. Lin, B. A. Francis, M. Maggiore, State Agreement For Continuous-Time Coupled Nonlinear Systems, SIAM Journal on Control and Optimization, vol. 46, no.1, 2007, pp. 288-307
Z. Lin, B.A. Francis, M. Maggiore, Necessary and Sufficient Conditions for Formation Control of Unicycles, IEEE Transactions on Automatic Control, vol. 50, no.1, January 2005, pp.121-127

Wind Energy Conversion Systems

B.G.Rawn, P.W. Lehn, A Disturbance Margin For Quantifying Limits on Power Smoothing by Wind Turbines, to appear in IEEE Transactions on Control Systems Technology, 2013
M. Maggiore, B.G. Rawn, P.W. Lehn, Invariance Kernels of Single-Input Planar Nonlinear Systems, SIAM Journal on Control and Optimization, vol 50, no. 2, pp. 1012-1037, 2012
B. Rawn, P. Lehn, M. Maggiore, Control Methodology to Mitigate the Grid Impact of Wind Turbines, IEEE Transactions on Energy Conversion, vol. 22, no. 2, June 2007, pp.431-438

Past Students

Past Ph.D. students

Student name
Thesis title and graduation date
Current position
Mohamed I. El-Hawwary Passivity methods for the stabilization of closed sets in nonlinear control systems Postdoctoral researcher, University of Groningen, Netherlands
Barry Rawn (co-sup. with Peter Lehn) Ensuring safe exploitation of wind turbine kinetic energy: An invariance kernel formulation, Nov. 2009 Postdoctoral researcher, Research Division ELECTA, Department of Electrical Engineering (ESAT), University of Leuven, Belgium
Chris Nielsen Set stabilization using transverse feedback linearization, Dec. 2008 Associate Professor, Dept. of Electrical and Computer Engineering, University of Waterloo
Zhiyun Lin (co-sup. with Bruce Francis) Coupled Dynamic Systems: From Structure Towards Stability, Nov. 2005 Professor, Dept. of Systems Science and Engineering, College of Electrical Engineering, Zhejiang University

Past Master students

Student name
Thesis title and graduation date
Current Position
Ashton Roza Motion control of rigid bodies in SE(3), August 2012 Ph.D. student, University of Toronto
Dame Jankuloski

Virtual Holonomic Constraints and the Synchronization of Euler-Lagrange Systems, August 2012

ABB, Process Automation Division
Farid Zare Seisan Modeling and Control of a Co-Axial Helicopter, November 2011 Software Engineer, Qualcomm
Tyson John Set Stabilization for Systems with Lie Group Symmetry, June 2010 Business Technology Analyst, Deloitte
Cameron Fulford
Control of a High-Precision Positioning System Using Magnetic Levitation, June 2007
Design Engineer, Quanser
David Langen (co-sup. with Lacra Pavel)
Finite Dimensional Approximations to a Raman Amplifier Model, May 2007
 
Payam Fakhri
Application of Polytopic Separation Techniques to Nonlinear Observer Design, July 2005
 
Brydon Owen Implementation of High-Precision Positioning Systems Using Contactless Magnetic Levitation, June 2005 Design Engineer, New Flyer Industries
Barry Rawn (co-sup. with Peter Lehn) Wind Energy Conversion Systems As Power Filters: A Control Methodology, Sept. 2004 Postdoctoral researcher, KU Leuven
Chris Nielsen Maneuver Regulation, Transverse Feedback Linearization, and Zero Dynamics, May 2004 Assistant Professor, Univ. of Waterloo
Mitch Levis Nonlinear Control of a Planar Magnetic Levitation System, Aug. 2003 Design Engineer, Quanser
Ali Rajaeesani (M.Eng.) Robust output feedback stabilization, compressor stall and surge example, July 2003 Deputy Managing Director, Asto Company
Rafael Becerril Nonlinear Control Design for a Magnetic Levitation System, Apr. 2003 Assistant Professor of Marketing, Darla Moore School of Business, University of South Carolina
Atsuhiko Sakurai (co-sup. with Bruce Francis) Sliding Mode Control of Switched Reluctance Motors, Aug. 2001 Field Consulting Engineer, National Instruments Japan

Past Events

Fifth Biannual Meeting on Systems and Control Theory

University of Toronto, May 7-9, 2012.

Click here for more information.

Event photos

Last modified on 09/20/2014