|Time:||March 13, 2017, 4:00 p.m. (CET)|
|Seminar room: V 9.22|
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Title: It's not MPC ! Explicit Reference Governors for the supervision of constrained nonlinear systems.
This talk introduces a novel control framework which dynamically modifies the reference of a pre-compensated nonlinear system so as to ensure the satisfaction of constraints, without resorting to online optimization. The basic ERG scheme is built translating state space constraints into a constraint on the Lyapunov function and limiting its value by modulating the velocity of the applied reference. The theory is introduced for general nonlinear systems subject to constraints and will be specialized to the large and highly relevant class of nonlinear systems admitting a Lyapunov function that is lower-bounded by a quadratic form. A complete generalization of the presented schemes will be also presented. Extension and implementation aspects will be discussed as well.
Emanuele Garone received his PhD in Systems Engineering from the University of Calabria, Italy, in 2009. He worked at the same university as an assistant researcher until 2010. Since 2010 he is an Associate Professor at the Control Design and System Analysis Department of the Université Libre de Bruxelles (Belgium). In 2007 he was finalists for the IEEE CSS CDC Best Student-Paper Award in 2007 and in 2014 he got an Honourable Mention at the Young Author Prize of the IFAC World Congress 2014. His research interests include: constrained control, reference supervision, networked control systems, Unmanned Aerial Vehicles, and LPV systems.