Decision and Control Lecture Series
Decision and Control Laboratory, Coordinated Science Laboratory
A Feedback Control Design Methodology for Underactuated Systems Subject to State Constraints and Disturbances
Dr. Dimitra Panagou
Postdoctoral Research Associate
Coordinated Science Laboratory
Wednesday, January 30, 2013
3:00 p.m. to 4:00 p.m.
B02 Auditorium CSL
Control of underactuated systems, such as unmanned robotic vehicles, which are subject to state constraints encoding various criteria, such as collision avoidance or maintaining connectivity among robotic agents, is a challenging and of significant interest topic within the fields of Robotics and Multi-agent Systems. In this talk we will present a feedback control design methodology for a class of systems subject to nonholonomic motion constraints, state constraints and bounded disturbances, comprising:
- A control design method for a class of n-dimensional nonholonomic systems, which is based on the concept of N-dimensional dipolar reference vector fields and a conceptual connection of theirs with Pfaffian constraints, and
- A switching control approach for systems under a class of state constraints, which is based on set-theoretic control methods. State constraints are realized as viability constraints defining a closed subset K of the state space, and state-dependent switching ensures that system trajectories are viable in K and converge to a goal set G in K.
The methodology has been applied to: (1) The motion planning, navigation and robust control for single and multiple underactuated marine vehicles in a constrained configuration set K, which encodes limited vision-based sensing, and to (2) The cooperative motion coordination and control, with guaranteed visibility maintenance and collision avoidance, for Leader-Follower formations of multiple nonholonomic agents in known obstacle environments, under sensing and communication constraints.
Dimitra Panagou received her Diploma in Mechanical Engineering (February 2006) and her PhD in Engineering (April 2012) from the School of Mechanical Engineering, National Technical University of Athens, Greece.
Her research interests mainly lie within the fields of motion planning, coordination and control of robotic systems (mobile, marine, aerial), with emphasis in the use and development of set-theoretic control methods, in order to address a class of realistic control problems via analytic, provably correct solutions. She is particularly interested in the control design for single- and multi-agent systems which are subject to motion constraints, underactuation, restricted sensing/communications and disturbances.
In the past, she has been a Visiting Scholar at the Mechanical Engineering Dept, University of Delaware (Spring semester 2009) and at the GRASP Lab, University of Pennsylvania (Fall semester 2010) while since August 2012 she has joined the Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, as a Postdoctoral Research Associate (https://publish.illinois.edu/dpanagou).
PLEASE JOIN US FOR COFFEE AND COOKIES PRIOR TO THE SEMINAR IN ROOM 154 CSL AT 2:30PM