加拿大维多利亚大学施阳教授学术报告会

报告时间：12月19日（星期四）14:00

报告地点：信息楼自动化学院310报告厅

报 告 人：施阳，加拿大维多利亚大学（University of Victoria）教授

报告题目：Distributed Model Predictive Formation     Tracking Control for Autonomous Underwater

                       Vehicles Subject to Disturbances

内容简介：In this talk,     we will introduce the formation tracking problem of a team of autonomous     underwater vehicles (AUVs) with the ocean current disturbances. A     distributed Lyapunov-based model predictive controller (DLMPC) is designed     such that AUVs can keep the desired formation while tracking the reference     trajectory, despite the presence of external disturbances. The DLMPC     inherits the stability and robustness of the extended state observer (ESO)     based auxiliary control law, and invokes online optimization to improve     formation tracking performance of the multi-AUV system. The closed-loop     stability of the multi-AUV system is guaranteed by the stability constraint     that utilizes the ESO-based auxiliary controller and the associated     Lyapunov function. Furthermore, the inter-AUV collision avoidance can be     achieved by incorporating well-designed artificial potential fields based     cost term in the formation tracking cost function. We will show simulation     studies on the Saab Falcon AUVs, demonstrating the superior control     performance and robustness of the proposed method.

报告人简介：Yang SHI     received the Ph.D. degree in electrical and computer engineering from the     University of Alberta, Edmonton, AB, Canada, in 2005. From 2005 to 2009, he     was an Assistant Professor and Associate Professor in the Department of     Mechanical Engineering, University of Saskatchewan, Saskatoon,     Saskatchewan, Canada. In 2009, he joined the University of Victoria, and     now he is a Professor in the Department of Mechanical Engineering, University     of Victoria, Victoria, British Columbia, Canada. His current research     interests include networked and distributed systems, model predictive     control (MPC), cyber-physical systems (CPS), robotics and mechatronics,     navigation and control of autonomous systems (AUV and UAV), and energy     system applications.

Dr.     Shi received the University of Saskatchewan Student Union Teaching     Excellence Award in 2007. At the University of Victoria, he received the     Faculty of Engineering Teaching Excellence in 2012, and the Craigdarroch     Silver Medal for Excellence in Research in 2015. He received the JSPS     Invitation Fellowship (short-term), and was a Visiting Professor at the     University of Tokyo during Nov-Dec 2013. His co-authored paper was awarded     the 2017 IEEE Transactions on Fuzzy Systems Outstanding Paper Award. He     received the Humboldt Research Fellowship for Experienced Researchers in     2018. He is a member of the IEEE IES Administrative Committee during     2017-2019, and the founding Vice Chair of IEEE IES Technical Committee on     Industrial Cyber-Physical Systems. Currently, he is Co-Editor-in-Chief for     IEEE Transactions on Industrial Electronics; he also serves as Associate     Editor for Automatica, IEEE Trans. Control Systems Technology, IEEE/ASME     Trans. Mechatrnonics, IEEE Trans. Cybernetics. He is a Fellow of IEEE, ASME     and CSME, and a registered Professional Engineer in British Columbia,     Canada