Path-dependent constrained multiagent system control with applications in UAV path-following formation

讲座名称：Path-dependent constrained multiagent system control with applications in UAV path-following formation

讲座人：金旭

讲座时间：6月22日9:00

讲座地点：Zoom会议直播（ID：869 6577 0473）

讲座人介绍：

金旭博士获得电气和计算机工程学士学位（一等荣誉）新加坡国立大学，加拿大多伦多大学电气和计算机工程应用科学硕士（MASc）学位，美国佐治亚州亚特兰大佐治亚理工学院数学硕士（MS）学位，以及美国佐治亚州亚特兰大市佐治亚理工学院航空航天工程哲学博士学位。目前是美国肯塔基州列克星敦肯塔基大学机械工程系助理教授。撰写/合著了50多篇期刊和会议论文，被引用2200多篇。美国国家科学基金会的专家组成员，控制系统和控制论领域20多种期刊的评论员。目前的研究兴趣包括自适应和迭代学习控制、容错控制、约束非线性系统控制，以及在智能车辆、机器人和多智能体系统中的应用。

讲座内容：

Constrained nonlinear systems, with output or state constraints, have been investigated for over a decade. However, all existing works only consider the system constraints as constant or time-varying sets. In many applications that involve autonomous vehicles, the constraints can be path-dependent, instead of being merely constants or time-varying functions. In this talk, we first discuss the differences between the path-following and the more well-known trajectory-tracking problems. Then, we will present our latest works on path-dependent constrained formation control for a team of UAVs. We show that under the proposed novel path-following formation scheme, path-dependent constraint requirements will be guaranteed during the entire operation. In the end, a simulation example on a team of UAVs is presented to demonstrate the efficacy of the proposed scheme.

主办单位：数学与统计学院