|Zeit:||14. Juni 2016|
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Dipl.-Ing. Jingbo Wu
Institute for Systems Theory and Automatic Control
University of Stuttgart,
Tuesday 2016-06-14 16:00
IST-Seminar-Room V9.22 - Pfaffenwaldring 9 - Campus Stuttgart-Vaihingen
In synchronization and coordination problems for groups of autonomous agents, the ability to apply distributed state feedback control crucially depends upon the implementation of a suitable state estimation algorithm.
Commonly, it is assumed that observers are implemented individually by each agent without taking into account the interconnection structure or closed-loop performance. Moreover, this approach requires the measurements to be local in the sense that they only depend on the individual agent. In practice however, this is often not the case as for example, relative sensing is an important feature of many multi-vehicle systems in applications such as formation control.
We address this problem by employing distributed state observers which are allowed to communicate through some prescribed communication topology. Subsequently, designing the observer parameters becomes a task, which is solved by an H ∞-type approach that leads to a separable optimization problem. The solution delivers observers that are able to attenuate or reject disturbances, and substantially improve performance and applicability compared to existing synchronization and coordination algorithms.
Jingbo Wu received the Diploma degree in engineering cybernetics from the University of Stuttgart, Germany, in December 2010. During his undergraduate studies, he spent an academic year at the University of Toronto, Canada. In 2011, he joined the Institute for Systems Theory and Automatic Control, University of Stuttgart as a PhD student. His main research interest lies in the field of Cooperative Control and Estimation, where specifically he works on distributed algorithms for estimation and regulation of autonomous and interconnected agents.