ICON Seminar in Robotics: Prof. Brett Lopez (UCLA)

Time: 3:00-4:00 pm Eastern Time, April 19 (Friday), 2024

Location: MSEE 180

Zoom Link: https://purdue-edu.zoom.us/j/98798335169?pwd=ZFNMdmZXendoQ1RCRDczM2dTR1RIdz09

Free coffee and snacks will be provided.

Dynamic Adaptation Gains for Control of Uncertain Nonlinear Systems

Abstract:

We will present a new control strategy called dynamic adaptation gains designed to stabilize nonlinear systems subject to parametric model perturbations. Of particular interest are systems with so-called unmatched model uncertainties, i.e., perturbations that cannot be directly canceled, which are notoriously difficult to control. The method relies on adjusting individual adaptation gains to cancel the effects of unmatched parameters whose transients could otherwise destabilize the closed-loop system. The method guarantees the restoration of the adaptation gains to their nominal value and can readily incorporate direct adaptation laws for matched uncertainties. We show that the framework only requires the system to be stabilizable for all possible model realizations making it far more general than existing approaches. Extensions to adaptive optimal control, adaptive safety control, and prescribed transient control will also be discussed.

Speaker:

Brett Lopez is an Assistant Professor in the Mechanical and Aerospace Engineering Department at the University of California, Los Angeles. He received his Ph.D. and S.M. from MIT with a specialization in controls and robotics, and his B.S. in Aerospace Engineering from UCLA. Prior to joining UCLA, he was a postdoctoral fellow at NASA-JPL where he led the development of NASA-JPL’s MAV autonomy stack for the DARPA Subterranean Challenge. He is a recipient of the UCLA Faculty Career Development Award, the UCLA MAE Outstanding Teaching Award, and the NSF Graduate Research Fellowship. His broad research interests include nonlinear and optimal control theory; localization and mapping; trajectory optimization; control, optimization, and estimation on manifolds; and autonomy with application to aerospace systems.

Recording:

https://www.youtube.com/watch?v=pAvBjQXWryk&ab_channel=ICONPurdue

Organizers: Ziran Wang (ziran@purdue.edu), Nak-seung Patrick Hyun (nhyun@purdue.edu), & Tho Le (thovle@purdue.edu)