|29. November 2016
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Prof. Dimos Dimarogonas
KTH Royal Institute of Technology,
Tuesday 2016-11-29 16:00
IST-Seminar-Room V9.22 - Pfaffenwaldring 9 - Campus Stuttgart-Vaihingen
Event and self-triggered control have been gaining a lot of attention from the research community recently due to their applicability in a number of applications. In this talk, I will present some recent results on the combination of these approaches with Model Predictive Control (MPC). I will first present a self-triggered MPC algorithm for continuous-time nonlinear networked control systems. The proposed control method derives not only the times to execute control tasks but also provides a way to discretize the optimal control trajectory so as to alleviate the communication burden as much as possible. Stability analysis guarantees that the state converges to a terminal region where a local linear state feedback can stabilize the system. In the second part we propose an event-triggered MPC scheme for nonlinear continuous-time systems with additive bounded disturbances. Unlike existing results, the proposed event-triggered MPC strategy is not derived from Lyapunov stability analysis. Instead, it is obtained from the time interval when the state reaches a local region around the origin. By guaranteeing that this time interval becomes smaller as the optimal control problem is solved, we ensure that the state converges to the prescribed set in finite time. In the last part, we present a self-triggered MPC approach for continuous-time linear networked control systems. The basic idea is to solve different optimal control problems under multiple discretization patterns with different transmission time intervals. By evaluating the optimal cost for each case, the controller chooses a suitable pattern taking both communication load and control performance into account.
The presented results are joint work with Kazumune Hashimoto and Shuichi Adachi from Keio University, Japan.
Dimos V. Dimarogonas was born in Athens, Greece, in 1978. He received the Diploma in Electrical and Computer Engineering in 2001 and the Ph.D. in Mechanical Engineering in 2007, both from the National Technical University of Athens (NTUA), Greece. Between May 2007 and February 2009, he was a Postdoctoral Researcher at the Automatic Control Laboratory, School of Electrical Engineering, ACCESS Linnaeus Center, KTH Royal Institute of Technology, Stockholm, Sweden. Between February 2009 and March 2010, he was a Postdoctoral Associate at the Laboratory for Information and Decision Systems (LIDS) at the Massachusetts Institute of Technology (MIT), Boston, MA, USA. He is currently an Associate Professor at the Automatic Control Laboratory, ACCESS Linnaeus Center, KTH Royal Institute of Technology, Stockholm, Sweden.
His current research interests include Multi-Agent Systems, Hybrid Systems and Control, Robot Navigation and Networked Control. He was awarded a Docent in Automatic Control from KTH in 2012. He serves in the Editorial Board of Automatica, the IEEE Transactions on Automation Science and Engineering and the IET Control Theory and Applications and is a member of IEEE and the Technical Chamber of Greece. He is coordinating the EU FP7 project RECONFIG and has received an ERC Starting Grant from the European Commission for the proposal BUCOPHSYS in 2014. He was awarded a Wallenberg Academy Fellow grant in 2015.