Einladung zum Vortrag im Kolloquium Technische Kybernetik
Performance limitations in formation control of autonomous vehicles with limited communications
Prof. Rick Middleton
The Hamilton Institute
The National University of Ireland Maynooth
Zeit: Dienstag· 04. 12. 2007 · 16:00 Uhr
Ort: IST-Seminarraum 3.241 · Pfaffenwaldring 9 · Campus Stuttgart-Vaihingen
The study of performance limitations in feedback control systems has a long history, being best established in the case of linear time invariant systems. One aspect of this is trade-offs for single input single output feedback systems with a type II servo response. In this case, there are complex analytic results, analogous to the Bode Sensitivity Integral, that apply to the complementary sensitivity function. These results have previously been applied to studies of distributed control of autonomous vehicles. In some special cases, namely, homogeneous systems, with nearest neighbour communications, these results can be used to establish conditions under which a phenomenon known as "string instability" is guaranteed to occur. In this talk, I will review this background; show some extensions to the results for heterogeneous systems; and systems with limited range communications.
Rick Middleton was born on 10th December 1961 in Newcastle Australia. He received his Ph.D. (1987) from the University of Newcastle, Australia. Until May 2007, he held a tenured post in the Department of Electrical Engineering at the University of Newcastle, most recently as Director of the ARC Centre for Complex Dynamic Systems and Control. He is currently a Research Professor at the Hamilton Institute, The National University of Ireland, Maynooth.