Seminar Details
2020-02-19 (14:00) : Model-Free Practical Cooperative Control Using Passivity and Network Optimization
At Euler building (room A.207)
Organized by Mathematical Engineering
Speaker :
Miel Sharf (Technion, Israel)
Abstract :
Please note the unusual location and day of this talk.
In recent times, networked control systems have become an important field of research, as multi-agent and large-scale networks have become common, and the system-of-systems design philosophy has become the state-of-the-art. The ever-growing complexity of systems makes the process of obtaining a reliable mathematical model arduous and time-consuming, especially for networked systems which include many different agents corresponding to many different models. Coincidentally, technological advancements introduced more efficient ways to gather, store, and analyze data. This motivates the idea of data-driven controller design, in which data is used to solve control problems, either by building an approximate model for the system, or by learning a control policy directly.
In this talk, we'll consider a problem in which the relative output between the (nonlinear) agents must converge -close to prescribed values (e.g., consensus or formation control). Our approach relies on a connection between passivity theory and network optimization, as well as high-gain control. We use network optimization to show not only that there exists a gain attaining the desired control goal, but also prescribe a data-driven method of estimating it. We further present another data-driven solution using iterative sampling schemes. We will also discuss how to verify the required passivity assumptions and illustrate the developed methods in a case study.
The talk is based on joint work with Anne Romer, Daniel Zelazo and Frank Allgöwer.