EE Seminar: Formation Control in Networked Dynamical Systems

29 באפריל 2019, 15:00 
חדר 011, בניין כיתות-חשמל 

(The talk will be given in English)

 

Speaker:     Anoop Jain
                     Faculty of Aerospace Engineering, Technion

 

Monday, April 29th, 2019
15:00 - 16:00

Room 011, Kitot Bldg., Faculty of Engineering

 

Formation Control in Networked Dynamical Systems
 

Abstract

Networked dynamical systems possess improved robustness properties over single-agent systems, and hence, are desirable for various engineering applications ranging from searching and sensing, tracking and monitoring, surveillance and patrolling to cooperative space missions. To accomplish such cooperative tasks autonomously, the agents are required to coordinate with each other depending on their sensing capabilities, which is represented by a graph (usually referred to as communication network).

This talk will focus on achieving a collective motion in multi-agent systems where the agents are either in a synchronized or a balanced formation. Such formations are characterized by the motion of the collective centroid of the group of agents and serve as motion primitives to achieve general tracking patterns. In the existing literature, the problems of achieving synchronization and balancing have been studied under the assumption that the agents are coupled through controller gains that are identical or homogeneous. In this talk, I plan to discuss a practical scenario where the gains may vary nominally due to minor implementation errors or drastically due to major faults or errors, thus leading to heterogeneity in controller gains. Robustness and fault tolerant properties of these formations against the failure of controllers will also be presented. Furthermore, stabilization of more general formation patterns, such that the trajectories of the agents do not transgress a given workspace, will also be discussed.

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