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学术报告第201806期

发布时间:2018-03-13 编辑:汪昭 来源:

报告题目:Synthesizing a Distributed Control Law for Complex Multi-agent Systems via Certainty Equivalence Principle

报 告 人:Jie Huang Chinese University of Hong Kong

报告时间:2018319日(周一)上午10:30

报告地点:南一楼中311

报告摘要:

One of the distinguished features of the cooperative control of multi-agent systems is that the control law has to satisfy various communication constraints. A control law that satisfies the communication constraints is called a distributed control law. In this talk, we present a systematic framework for synthesizing a distributed control law for several leader-following cooperative control problems via the certainty equivalence principle. This framework consists of three steps. First, a purely decentralized control law is designed assuming no communication constraint exists. Second, in the presence of jointly connected communication constraints, an adaptive distributed observer for the leader system is designed that is able to provide each follower the estimation of the leader’s dynamics and the leader’s signal. Finally, a fully distributed control law is synthesized by composing the purely decentralized control law and the adaptive distributed observer. The effectiveness of this framework will be illustrated by applications to some cooperative control problems of multi-agent systems such as the leader-following consensus problem, the cooperative output regulation problem, formation, rendezvous, and flocking.

报告人简介:

Jie Huang studied at Fuzhou University (Diploma, 1980), Nanjing University of Science and Technology (Master, 1982), and the Johns Hopkins University (PhD, 1990), respectively. He is now Choh-Ming Li Professor of Mechanical and Automation Engineering and Chairman of the Department of Mechanical and Automation Engineering, the Chinese University of Hong Kong. His research interests include automatic control, robotics and automation, and guidance and control of flight vehicles.  He is a Fellow of IEEE, IFAC, CAA, and HKIE.