学术报告第202137期

报告题目：An Integrated Framework of Robust Model Predictive Control and

Visual Servoing for Autonomous Quadrotors

报 告 人： 施阳院士（加拿大工程研究院）

报告时间：4月7日午9:30--11：30

报告地点：腾讯会议（链接入会ttps://meeting.tencent.com/s/N8npZxfROohZ，会议ID：431 579 952，手机一键拨号入会：+8675536550000,431579952# (中国大陆)、+85230018898,,,2,431579952# (中国香港)）

主持人：张海涛 教授

内容摘要:Model predictive control (MPC) is a promising paradigm for high-performance and cost-effective control of complex dynamic systems. This talk will introduce a unified framework of integrating robust model predictive control (MPC) and visual servoing framework for autonomous vehicles. By combining the image kinematics with the quadrotor dynamics, we develop a robust NMPC based IBVS scheme to ensure the satisfaction of both physical and visibility constraints, where the tightened state constraints are constructed for handing external disturbances. The sufficient conditions on guaranteeing recursive feasibility of the proposed MPC algorithm are established. Furthermore, we theoretically show that the closed-loop system is input-to-state practically stable (ISpS). Some existing challenges and future research directions will be discussed.

报告人简介: Yang SHI received his B.Sc. and Ph.D. degrees in mechanical engineering and automatic control from Northwestern Polytechnical University, Xi’an, China, in 1994 and 1998, respectively, and 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, SK, 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, BC, 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, and the Faculty of Engineering Teaching Excellence Award in 2012 at the University of Victoria (UVic). He is the recipient of the JSPS Invitation Fellowship (short-term) in 2013, the UVic Craigdarroch Silver Medal for Excellence in Research in 2015, the 2017 IEEE Transactions on Fuzzy Systems Outstanding Paper Award, the Humboldt Research Fellowship for Experienced Researchers in 2018. He is a member of the IEEE IES Administrative Committee and the IES Fellow Evaluation Committee during 2017-2019; he is the 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 Transactions on Control Systems Technology, IEEE/ASME Transactions on Mechatronics, IEEE Transactions on Cybernetics, etc. He is General Chair of the 2019 International Symposium on Industrial Electronics (ISIE) and the 2021 International Conference on Industrial Cyber-Physical Systems (ICPS).

He is a Fellow of IEEE, ASME, Engineering Institute of Canada (EIC), and Canadian Society for Mechanical Engineering (CSME), and a registered Professional Engineer in British Columbia, Canada.