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X-WR-CALNAME;VALUE=TEXT:Eventi DIAG
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UID:calendar.24045.field_data.0@www.ugov-ricerca.uniroma1.it
DTSTAMP:20260407T215841Z
CREATED:20220217T125605Z
DESCRIPTION:Antonio Loria\, Direttore di Ricerca al Laboratoire des Signaux
  et Systèmes (L2S\, Gif-sur-Yvette\, FR)\, terrà un seminario dal titolo D
 istributed output-feedback observer-less consensus control of nonholonomic
   systems over networks with communication delays.Il seminario  avrà luogo
   il prossimo 24/02/2022 in Aula Magna del DIAG e sarà fruibile in streami
 ng via zoom a questo link . Abstract. Nonholonomic systems cannot be asymp
 totically stabilized to a point via smooth time-invariant feedback. This i
 s due to a structural obstruction than cannot be overcome via feedback. In
  this talk\, we will present the so-called delta-persistently-exciting con
 trollers. They rely on a time-varying function that excites the system's m
 odes while the stabilization error persists and vanishes with the error tr
 ajectories\, uniformly and asymptotically. Then\, we address the formation
  consensus problem for swarms of nonholonomic systems.  Consensus formatio
 n is inherently a set-point stabilization problem since it consists in the
  robots acquiring a formation fixed on the plane at a set-point that is no
 t specified a priori. The consensus-formation problem inherits the difficu
 lties of set-point stabilization and consensus control. The controllers ar
 e distributed since\, for each robot\, they depend on local coordinates an
 d measurements received from close-by neighbours. It is assumed\, however\
 , that the robots do not possess velocity sensors and communicate over a w
 ifi network. The latter induces time-varying delays. The controllers are d
 elta-persistently-exciting and they rely on passive filters whose outputs 
 are used in place of the unavailable velocities. These filters\, however\,
  are not state estimators. Thus\, at least in the present context of outpu
 t-feedback control\, our results obviate the need for state estimation. Bi
 o Sketch. Antonio Loria was born in Mexico City in 1969. He got the BSc de
 gree in Electronic Engineering from the ITESM\, Monterrey\, Mexico in 1991
 \, the MSc and PhD degrees in Control Engg. from the UTC\, France in 1993 
 and Nov. 1996 respectively. From December 1996 through Dec. 1998\, he was 
 successively an associate researcher at Univ. of Twente\, The Netherlands\
 ; NTNU\, Norway and the CCEC of the Univ. of California at Sta Barbara\, U
 SA. A. Loria has the honour of occupying a research position as Senior Res
 earcher at the French National Centre of Scientific Research (CNRS). His r
 esearch interests include control systems theory (adaptive\, output feedba
 ck\, discrete-time\, continuous-time\, linear\, non-linear\, hybrid\, robu
 st\, passive\, etc.)\, dynamical systems theory (stability\, chaos) and a 
 variety of applications of the latter\, including Lagrangian systems. He h
 as served as an associate editor for Systems and Control Letters\, Automat
 ica\, IEEE Transactions on Automatic Control\, IEEE Transactions on Contro
 l Systems Technology\, Control Systems Letters\, Control Systems Magazine 
 and as a member of the IEEE CSS Conference Editorial Board\, and diverse  
 IPCs. Some of his publications are available at https://www.l2s.centralesu
 pelec.fr/u/loria-antonio/
DTSTART;TZID=Europe/Paris:20220224T153000
DTEND;TZID=Europe/Paris:20220224T153000
LAST-MODIFIED:20220217T130303Z
LOCATION:Aula Magna\, DIAG e via Zoom (https://uniroma1.zoom.us/j/840107710
 92?pwd=OG0wSlRXeUFvN1NydUpHMzZSMjhldz09)
SUMMARY:Distributed output-feedback observer-less consensus control of nonh
 olonomic  systems over networks with communication delays  - Antonio Loria
URL;TYPE=URI:http://www.ugov-ricerca.uniroma1.it/node/24045
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