講座主題：Decision function-based adaptive control of uncertain systems subject to irregular output constraints
專(zhuān)家姓名：趙凱
工作單位：重慶大學(xué)
講座時(shí)間：2024年07月04日15:00-15:30
講座地點(diǎn)：數(shù)學(xué)院大會(huì)議室341
主辦單位：煙臺(tái)大學(xué)數(shù)學(xué)與信息科學(xué)學(xué)院
內(nèi)容摘要：
The constraint problem is widespread in various applications, e.g. in the delivery UAV with a cable-suspended load, where collisions of the payload with the surrounding environment must be avoided. In practice, it can lead to control inaccuracies, system instability or even safe accidents if the corresponding constraints are not properly considered, which makes the underlying problem of controlling nonlinear dynamic systems extremely critical and difficult. While Barrier Lyapunov Function (BLF)-based approach has been successfully used to ensure the security of the system, it is nontrivial to use such a method to deal with the irregular constraints (where the constraints may appear, disappear or alternate during the system operation). In this report, a safe adaptive control strategy is developed for uncertain systems subject to irregular output constraints. Firstly, we introduce the concept of link function, with which we transform the non-differentiable constraint into a smooth one; Secondly, by using several function transformations, and the decision function in particular that bridges the irregular output constraints and the barrier function, we recast the problem of maintaining irregular constraints into the stabilization of the barrier function, which allows different constraint forms to be addressed under a fixed control structure wherein one only needs to select the appropriate decision function and design parameters, eliminating the need for control redesign and stability reanalysis. The effectiveness of the proposed scheme is validated by numerical simulations.
主講人介紹：
趙凱，重慶大學(xué)教授/博導(dǎo)，國(guó)家級(jí)青年人才，重慶英才青年拔尖人才。2019年6月博士畢業(yè)于重慶大學(xué)，師從IEEE TNNLS主編、國(guó)家特聘專(zhuān)家宋永端教授。2019年10月起先后在澳門(mén)大學(xué)和新加坡國(guó)立大學(xué)從事科研工作，2023年5月加入重慶大學(xué)自動(dòng)化學(xué)院。主要研究方向?yàn)椋鹤赃m應(yīng)控制，約束控制以及機(jī)器人系統(tǒng)。發(fā)表SCI高水平論文30余篇，其中控制領(lǐng)域頂級(jí)期刊IEEE TAC和Automatica 11篇，Google學(xué)術(shù)引用2000余次，ESI前1‰熱點(diǎn)論文1篇，前1%高被引論文5篇；專(zhuān)著2部。榮獲中國(guó)自動(dòng)化學(xué)會(huì)科技進(jìn)步一等獎(jiǎng)（2023年）、IEEE Transactions on Cybernetics杰出審稿人（2022年）、中國(guó)自動(dòng)化學(xué)會(huì)優(yōu)秀博士學(xué)位論文提名獎(jiǎng)（2020年）以及重慶市優(yōu)秀博士學(xué)位論文獎(jiǎng)（2020年）。
