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Fall 2011 GRASP Seminar – Miroslav Krstic, University of California, San Diego, “Nonlinear Control over Networks with Large and Varying Delays”

October 21, 2011 @ 11:00 am - 12:00 pm

Abstract: Many modern control applications, including teleoperation and control
over networks, create challenges to applying nonlinear controllers
in the presence of long delays in the actuation or sensing path. I will
present techniques for compensating such delays, with an emphasis on
delays that are time-varying and state-dependent. In the presence of
state-dependent delays, the challenge is not only that the overall
state of the system (plant plus actuator dynamics) is
infinite-dimensional and the delay is time-varying, but also that the
horizon for compensating the delay is not known a priori and the delay
rate becomes dependent on the input. I will present solutions to the
problem of stabilization in the presence of state-dependent delays for
general linear and nonlinear systems. For constant delays, I will
introduce sampled-data nonlinear controllers that compensate delays of
arbitrary length, under arbitrarily sparse sampling. Illustration will
be provided through several examples, including stabilization of the
nonholonomic unicycle.


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Miroslav Krstic holds the Daniel L. Alspach chair in Dynamic Systems
and Control at UC San Diego and is the founding director of the Cymer
Center for Control Systems and Dynamics. Krstic has held the Russell
Severance Springer Distinguished Visiting Professorship at UC Berkeley
and the Harold W. Sorenson Distinguished Professorship at UCSD. He is a
recipient of the PECASE, NSF Career, and ONR Young Investigator Awards,
as well as the Axelby and Schuck Paper Prizes. Krstic was the first
recipient of the UCSD Research Award in the area of engineering. He is
a Fellow of IEEE and IFAC and serves as Senior Editor in IEEE
Transactions on Automatic Control and Automatica. He has served as Vice
President of the IEEE Control Systems Society. Krstic has co-authored
eight books on adaptive, nonlinear, and stochastic control, extremum
seeking, control of PDE systems including turbulent flows, and control
of delay systems.


October 21, 2011
11:00 am - 12:00 pm
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