During each Annual Thematic Program, several seminars are offered. Talks will
include graduate-level lectures as well as seminars covering various topics
related to the theme.
Seminars for 2015-2016 will be held Thursdays from 11 a.m. to 12 p.m. in Lind Hall 305 unless otherwise noted.
Elements of Sliding Mode Control Theory
Antonella Ferrara, Università di Pavia
September 14, 2015 11:00 AM - 12:00 PM
Lind 305 [Map]Abstract
Sliding Mode Control is a nonlinear control method based on the use of a discontinuous control input which forces the controlled system to switch from one continuous structure to another, i.e. to evolve as a variable structure system. This structure variation makes the system state reach in a finite time a pre-specified subspace of the system state space, where the desired dynamical properties are assigned to the controlled system.
In the past years, an extensive literature has been devoted to the developments of Sliding Mode Control theory. This kind of methodology offers a number of benefits, the major of which is its robustness versus a significant class of uncertainties and disturbances. Yet, it presents a crucial drawback, the so-called chattering phenomenon, due to the high frequency switching of the control signal, which may disrupt or damage actuators, thus limiting its actual applicability. This drawback has been circumvented by recent theoretical developments oriented to increase the so-called order of the sliding mode, giving rise to Second Order and Higher Order Sliding Mode Control algorithms.
The three lectures based short course on Sliding Mode Control will cover the major theoretical aspects. It will start from the basic concepts (i.e. the definition and existence of a sliding mode, the solution in Filippov’s sense of the associated discontinuous differential equation, the invariance property versus matched uncertainties of the system in sliding mode), arriving to illustrate recent Higher Order Sliding Mode Control algorithms capable of solving, in a robust way, classical optimal control problems, such as the Fuller’s Problem.
Elements of Sliding Mode Control Theory
Antonella Ferrara, Università di Pavia
September 16, 2015 11:00 AM - 12:00 PM
Lind 305 [Map]Abstract
Sliding Mode Control is a nonlinear control method based on the use of a discontinuous control input which forces the controlled system to switch from one continuous structure to another, i.e. to evolve as a variable structure system. This structure variation makes the system state reach in a finite time a pre-specified subspace of the system state space, where the desired dynamical properties are assigned to the controlled system.
In the past years, an extensive literature has been devoted to the developments of Sliding Mode Control theory. This kind of methodology offers a number of benefits, the major of which is its robustness versus a significant class of uncertainties and disturbances. Yet, it presents a crucial drawback, the so-called chattering phenomenon, due to the high frequency switching of the control signal, which may disrupt or damage actuators, thus limiting its actual applicability. This drawback has been circumvented by recent theoretical developments oriented to increase the so-called order of the sliding mode, giving rise to Second Order and Higher Order Sliding Mode Control algorithms.
The three lectures based short course on Sliding Mode Control will cover the major theoretical aspects. It will start from the basic concepts (i.e. the definition and existence of a sliding mode, the solution in Filippov’s sense of the associated discontinuous differential equation, the invariance property versus matched uncertainties of the system in sliding mode), arriving to illustrate recent Higher Order Sliding Mode Control algorithms capable of solving, in a robust way, classical optimal control problems, such as the Fuller’s Problem.
Elements of Sliding Mode Control Theory
Antonella Ferrara, Università di Pavia
September 18, 2015 11:00 AM - 12:00 PM
Lind 305 [Map]Abstract
Sliding Mode Control is a nonlinear control method based on the use of a discontinuous control input which forces the controlled system to switch from one continuous structure to another, i.e. to evolve as a variable structure system. This structure variation makes the system state reach in a finite time a pre-specified subspace of the system state space, where the desired dynamical properties are assigned to the controlled system.
In the past years, an extensive literature has been devoted to the developments of Sliding Mode Control theory. This kind of methodology offers a number of benefits, the major of which is its robustness versus a significant class of uncertainties and disturbances. Yet, it presents a crucial drawback, the so-called chattering phenomenon, due to the high frequency switching of the control signal, which may disrupt or damage actuators, thus limiting its actual applicability. This drawback has been circumvented by recent theoretical developments oriented to increase the so-called order of the sliding mode, giving rise to Second Order and Higher Order Sliding Mode Control algorithms.
The three lectures based short course on Sliding Mode Control will cover the major theoretical aspects. It will start from the basic concepts (i.e. the definition and existence of a sliding mode, the solution in Filippov’s sense of the associated discontinuous differential equation, the invariance property versus matched uncertainties of the system in sliding mode), arriving to illustrate recent Higher Order Sliding Mode Control algorithms capable of solving, in a robust way, classical optimal control problems, such as the Fuller’s Problem.
Physical Network System Dynamics
Abraham Jan (Arjan) van der Schaft, Rijksuniversiteit te Groningen
September 24, 2015 11:00 AM - 12:00 PM
Lind 305 [Map]Abstract
While complexity and large-scale systems have always been important themes in systems and control theory, the current flowering of network dynamics and control was not so easy to predict. Two main reasons for the enormous research activity are the ubiquity of large-scale networks in a large number of application areas (from power networks to systems biology) and the happy marriage between on the one hand systems and control theory and algebraic graph theory on the other. In this talk we will concentrate on network dynamics with a clear physical structure. Conservation laws and balance equations for physical network systems typically can be described with the aid of the incidence matrix of a directed graph, and associated Laplacian matrices. Several examples will be discussed, from mechanical systems to chemical reaction networks, and the common mathematical structure will be identified. Furthermore, it will be shown how this formulation leads to structure-preserving model reduction approaches. An attempt will be made to formulate open problems regarding scalability of analysis and control methodologies and connections to optimization.
Nonlinear Systems Toolbox
Arthur Krener, Naval Postgraduate School
October 5, 2015 11:00 AM - 12:00 PM
Lind 305 [Map]Nonlinear Systems Toolbox
Arthur Krener, Naval Postgraduate School
October 6, 2015 11:00 AM - 12:00 PM
Lind 305 [Map]Nonlinear Systems Toolbox
Arthur Krener, Naval Postgraduate School
October 7, 2015 11:00 AM - 12:00 PM
Lind 305 [Map]When MIMO Control Meets MIMO Communication
Li Qiu, Hong Kong University of Science and Technology
October 8, 2015 11:00 AM - 12:00 PM
Lind 305 [Map]Abstract
It is now well understood that there is a minimal requirement on the channel
quality in feedback stabilization via a communication channel. In the case of SISO plant and SISO channel. This minimal channel quality is given in terms of the degree of instability of the plant to be stabilized. For a MIMO system controlled via a MIMO communication channel, things are much less clear. In this talk, we will examine some known results and also speculate some possible directions. In the MIMO study, majorization theory plays an important role.
Previous Annual Seminars