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Interaction and Configuration Control for Networks of Dynamical Systems

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Abstract:
Inspired by natural phenomena, the recent research developed in the control and engineering communities has shown how multiple cooperating subsystems can effectively perform complex tasks in macro and micro workspaces. The remote or direct interactions among dynamical subsystems generate a dynamical network where, due to the large number of subsystems involved or to the nature and structure of their interactions, complex behaviors result. We study several aspects of such dynamical networks and how different layers of interdependent interactions between the subsystems are essential to achieve a coordinated overall system. In fact, by controlling the interactions among the subsystems, we are able to control the network configuration, which enables the overall system to accomplish its target objectives. More specifically we focus on three main frameworks: 1) we investigate robust reconfiguration control and coordinated tracking for Lagrangian and nonholonomic multi-agent systems, with guaranteed collision-free maneuvers, 2) we develop modeling and control strategies for systems with switching equilibria, and apply them to the study of interaction between subsystems in a dynamical network, 3) we study the multi-layer interaction in dynamical networks, adopt an integrated model and use a multi time-scale separation to achieve the control objectives and decoupling between the various layers. This approach is quite novel and allows us to study advanced robotic systems problems, such as system reconfiguration, navigation of robotic fleets, and collaborative space construction, to name a few.

Type of Seminar:
Public Seminar
Speaker:
Dr. Sylvia Mastellone
Coordinated Science Laboratory, University of Illinois at Urbana-Champaign
Date/Time:
Mar 19, 2008   17:15 /
Location:

ETH Zurich, Gloriastrasse 35, Building ETZ, Room E6
Contact Person:

Prof. R. D'Andrea
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Biographical Sketch:
Silvia Mastellone received a Laurea Degree in Ingegneria Informatica con Indirizzo Controlli ed Automazione Industriale from the Universita' degli Studi Roma Tre in 2001, an M.S. degree in Electrical Engineering from the University of New Mexico in 2004, and a Ph.D. in Systems and Entrepreneurial Engineering from the University of Illinois at Urbana-Champaign in 2008. From April to December 2001 she worked as a system design and verification engineer for the MBDA company in Rome. Her research interests include control of nonlinear and hybrid systems with applications in robotics, multi-agents and complex dynamical systems; control under delays and communication constraints; finite-time stability of dynamical systems.