讲座主题：Decision function-based adaptive control of uncertain systems subject to irregular output constraints

专家姓名：赵凯

工作单位：重庆大学

讲座时间：2024年07月04日15:00-15:30

讲座地点：数学院大会议室341

主办单位：hy590海洋之神平台数学与信息科学学院

内容摘要：

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.

主讲人介绍：

赵凯，重庆大学教授/博导，国家级青年人才，重庆英才青年拔尖人才。2019年6月博士毕业于重庆大学，师从IEEE TNNLS主编、国家特聘专家宋永端教授。2019年10月起先后在澳门大学和新加坡国立大学从事科研工作，2023年5月加入重庆大学自动化学院。主要研究方向为：自适应控制，约束控制以及机器人系统。发表SCI高水平论文30余篇，其中控制领域顶级期刊IEEE TAC和Automatica 11篇，Google学术引用2000余次，ESI前1‰热点论文1篇，前1%高被引论文5篇；专著2部。荣获中国自动化学会科技进步一等奖（2023年）、IEEE Transactions on Cybernetics杰出审稿人（2022年）、中国自动化学会优秀博士学位论文提名奖（2020年）以及重庆市优秀博士学位论文奖（2020年）。