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SUMMARY:Vortrag von Prof. Lorenzo Marconi
DESCRIPTION:\nProf. Lorenzo Marconi\n Department of Electronics, Computer Science and Systems\n University of Bologna\n\n\n\n \n\n\n\nTuesday 2015-05-19 16:00\n IST-Seminar-Room V2.268 - Pfaffenwaldring 9 - Campus Stuttgart-Vaihingen Room V2.268 -\nPfaffenwaldring 9  \nAbstract\nThe talk deals with the problem of output regulation for a class of hybrid\nlinear systems and exosystems whose state periodically jumps according to a known clock. In this\nframework we present a general method for the systematic design of robust internal model-based\nregulators by extending results that are known for continuous time systems. The internal model\ndesign procedure relies upon a notion of visibility of the so-called "hybrid steady-state generator”\n . The idea is to design an internal model that reproduces only the "visible part" of the hybrid\nsteady-state generator by designing an asymptotic hybrid observer of the latter. What makes the\nproblem interesting in the hybrid context is that there might be dynamics in the steady-state\ngenerator that are "invisible" during flows (and, as such, cannot be embedded in the internal\nmodel) but that become "visible" during jumps, thus having an effect in achieving the regulation\nproperty. This, in turn, asks for a truly hybrid design in the regulator. The general theory is\nthen applied to the case of robust tracking of spline-based reference trajectories by showing how\nthe latter can be thought of as being generated by hybrid linear exosystems. A practical example of\nrobust tracking of a spline reference trajectory by a quadrotor is also presented.\n\n\nBiographical Information\nLorenzo Marconi graduated in 1995 in Electrical Engineering from the University\nof Bologna. Since 1995 he has been with the Department of Electronics, Computer Science and Systems\nat University of Bologna, where he obtained his Ph.D. degree in March 1998. From 1999 he has been\nan Assistant Professor in the same Department where is now Associate Professor since January 2005.\nHe has held visiting positions at various academic/research international institutions. He is\nco-author of more than 200 technical publications on the subject of linear and nonlinear feedback\ndesign published on international journals, books and conference proceedings. In 2005, he received\nthe ``Outstanding Application Paper Award'' from the International Federation of Automatic Control\n(IFAC) for a co-authored paper published on Automatica. He is also the recipient of the 2014 IEEE\nControl Systems Magazine Outstanding Paper Award for the best paper published on the magazine in\nthe period 2012-2013. He is the chair of the IFAC Technical Committee on ``Nonlinear Control\nSystems''. He is the coordinators of the European Projects AIRobots (Innovative aerial service\nrobots for remote inspections by contact, www.airobots.ing.unibo.it) and SHERPA (Smart\ncollaboration between Humans and ground-aErial Robots for imProving rescuing activities in Alpine\nenvironments, www.sherpa-project.eu) both funded by the European Community within the 7th FP. His\ncurrent research interests include nonlinear control, output regulation, control of autonomous\nvehicles, fault detection and isolation, fault tolerant control.
DTSTART;TZID=Europe/Berlin;VALUE=DATE:20150519
URL;VALUE=URI:https://www.ist.uni-stuttgart.de/de/veranstaltungen/Vortrag-von-Prof.-Lorenzo-Marconi/
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