Merging control Lyapunov functions
Event details
| Date | 02.11.2012 |
| Hour | 10:15 › 11:00 |
| Speaker | Sergio Grammatico (University of Pisa) |
| Location |
ME C2 405
|
| Category | Conferences - Seminars |
Given two control Lyapunov functions (CLFs), a ''merging'' is a new CLF whose gradient is a positive combination of the gradients of the two parents CLFs. The merging function is an important trade-off since this new function may, for instance, approximate one of the two parents functions close to the origin while being close to the other far away. For nonlinear control-affine systems, some equivalence properties are shown between the control-sharing property, i.e. the existence of a single control law which makes simultaneously negative the Lyapunov derivatives of the two given CLFs, and the existence of merging CLFs. For the class of linear differential inclusions, Linear Matrix Inequality (LMI) conditions are provided for the control-sharing property to hold. Finally, a constructive merging procedure is given as an example, together with some insights on possible applications to Lyapunov-based Model Predictive Control (MPC).
Sergio 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 and the Master's degree (cum laude) in Automation Engineering both from the University of Pisa, Italy, in February 2008 and October 2009 respectively. He also received a Master's degree (cum laude) in Engineering from the 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 stochastic control systems, Lyapunov-based and model-predictive control with applications to the fields of process control and underwater robotics.
Sergio 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 and the Master's degree (cum laude) in Automation Engineering both from the University of Pisa, Italy, in February 2008 and October 2009 respectively. He also received a Master's degree (cum laude) in Engineering from the 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 stochastic control systems, Lyapunov-based and model-predictive control with applications to the fields of process control and underwater robotics.
Practical information
- General public
- Free
Organizer
- Colin Jones
Contact
- Colin Jones ([email protected])