講座主題：Safe Adaptive Control of Hyperbolic PDE-ODE Cascades
專家姓名：王驥
工作單位：廈門大學(xué)
講座時(shí)間：2024年11月12日10:00-10:40
講座地點(diǎn)：數(shù)學(xué)院大會(huì)議室341
主辦單位：煙臺(tái)大學(xué)數(shù)學(xué)與信息科學(xué)學(xué)院
內(nèi)容摘要：
Adaptive safe control employing conventional continuous infinite-time adaptation requires that the initial conditions be restricted to a subset of the safe set due to parametric uncertainty, where the safe set is shrunk in inverse proportion to the adaptation gain. The recent regulation-triggered adaptive control approach with batch least-squares identification (BaLSI, pronounced ``ballsy'') completes perfect parameter identification in finite time and offers a previously unforeseen advantage in adaptive safe control. Since the true challenge of safe control is exhibited for CBF of a high relative degree, we undertake a safe BaLSI design for a class of systems that possess a particularly extreme relative degree: ODE-PDE-ODE sandwich systems. Such sandwich systems arise in various applications, including delivery UAVs (Unmanned Aerial Vehicles) with a cable-suspended load. Collision avoidance of the payload with the surrounding environment is required. The considered class of plants is coupled hyperbolic PDEs sandwiched by a strict-feedback nonlinear ODE and a linear ODE, where the unknown coefficients, whose bounds are known and arbitrary, are associated with the PDE in-domain coupling terms that can cause instability and with the input signal of the distal ODE. We introduce the concept of PDE CBF whose non-negativity as well as the ODE CBF's non-negativity are ensured with a backstepping-based safety filter. Our safe adaptive controller is explicit and operates in the entire original safe set. The designed controller guarantees: 1) the finite-time exact parameter identification of the unknown parameters; 2) the safety of the state furthermost from the control input; 3) the exponential regulation of the overall plant state to zero.
主講人介紹：
王驥,，2018獲重慶大學(xué)機(jī)械工程博士學(xué)位,，2019-2021加州大學(xué)圣地亞哥分校機(jī)械與航空工程系博士后,。目前是廈門大學(xué)航空航天學(xué)院副教授，入選廈門大學(xué)“南強(qiáng)青年拔尖人才支持計(jì)劃”,。主要從事分布參數(shù)系統(tǒng)邊界控制理論及其在柔性機(jī)械結(jié)構(gòu)中的應(yīng)用研究。以第一作者在控制領(lǐng)域頂刊IEEE TAC和 Automatica發(fā)表論文13篇（長(zhǎng)文12篇）,，出版學(xué)術(shù)專著一部（Princeton University Press）,。目前擔(dān)任Systems & Control Letters編委。
