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SUMMARY:Merging control Lyapunov functions
DTSTART:20121102T101500
DTEND:20121102T110000
DTSTAMP:20260407T021045Z
UID:ce61ffeffc6919e8db5d7c0013aac251a9f077dcbdf88e8f583fdf82
CATEGORIES:Conferences - Seminars
DESCRIPTION:Sergio Grammatico (University of Pisa)\nGiven two control Lyap
 unov functions (CLFs)\, a ''merging'' is a new CLF whose gradient is a pos
 itive combination of the gradients of the two parents CLFs. The merging f
 unction is an important trade-off since this new function may\, for instan
 ce\, approximate one of the two parents functions close to the origin whil
 e being close to the other far away. For nonlinear control-affine system
 s\, some equivalence properties are shown between the control-sharing prop
 erty\, i.e. the existence of a single control law which makes simultaneous
 ly negative the Lyapunov derivatives of the two given CLFs\, and the exist
 ence of merging CLFs. For the class of linear differential inclusions\, Li
 near Matrix Inequality (LMI) conditions are provided for the control-shari
 ng property to hold. Finally\, a constructive merging procedure is given 
 as an example\, together with some insights on possible applications to Ly
 apunov-based Model Predictive Control (MPC).\n\nSergio Grammatico is a PhD
  student in Automatic Control at the University of Pisa since January 2010
 . He received the Bachelor's degree (cum laude) in Computer Engineering a
 nd the Master's degree (cum laude) in Automation Engineering both from the
  University of Pisa\, Italy\, in February 2008 and October 2009 respective
 ly. He also received a Master's degree (cum laude) in Engineering from th
 e Sant'Anna School of Advanced Studies of Pisa\, Italy\, in November 2011.
  He visited the Department of Mathematics at the University of Hawaii in 
 February-April 2010 and in November-December 2011\, and the Department of 
 Electrical and Computer Engineering at the University of California Santa 
 Barbara in January-July 2012. His research interests are focused on stoch
 astic control systems\, Lyapunov-based and model-predictive control with a
 pplications to the fields of process control and underwater robotics.
LOCATION:ME C2 405
STATUS:CONFIRMED
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