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Celebration Events
| 10 November
2011 |
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Distinguished
Lecture
Optimal Design for Cooperative Control Synchronization
and Games
on Communication Graphs
(by Professor Prof. F.L. Lewis, Head, Advanced
Controls and Sensors Group, Automation and Robotics
Research Institute, The University of Texas at Arlington,
USA )
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| Date |
10
November 2011 (Thursday) |
| Time |
4:30
pm - 5:30 pm |
| Venue |
Room
215, William M. W. Mong Engineering Building, CUHK
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| Details |
Seminar
Announcement |
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| Distributed
systems of agents linked by communication networks only
have access to information from their neighboring agents,
yet must achieve global agreement on team activities to
be performed cooperatively. Examples include networked
manufacturing systems, wireless sensor networks, networked
feedback control systems, and the internet. Sociobiological
groups such as flocks, swarms, and herds have built-in
mechanisms for cooperative control wherein each individual
is influenced only by its nearest neighbors, yet the group
achieves consensus behaviors such as heading alignment,
leader following, exploration of the environment, and
evasion of predators. It was shown by Charles Darwin that
local interactions between population groups over long
time scales lead to global results such as the evolution
of species. In this talk we present design methods for
cooperative controllers for distributed systems. The developments
are for general directed graph communication structures,
for both continuous-time and discrete-time agent dynamics.
Cooperative control design is complicated by the fact
that the graph topology properties limit what can be achieved
by the local controller design. Thus, local controller
designs may work properly on some communication graph
topologies yet fail on other topologies. Our objective
is to provide local agent feedback design methods that
are independent of the graph topology and so function
on a wide range of graph structures. An optimal design
method for local feedback controllers is given that decouples
the control design from the graph structural properties.
In the case of continuous-time systems, the optimal design
method guarantees synchronization on any graph with suitable
connectedness properties. In the case of discrete-time
systems, a condition for synchronization is that the Mahler
measure of unstable eigenvalues of the local systems be
restricted by the condition number of the graph. Thus,
graphs with better topologies can tolerate a higher degree
of inherent instability in the individual node dynamics.
A theory of duality between controllers and observers
on communication graphs is given, including methods for
cooperative output feedback control based on cooperative
regulator designs. In Part 2 of the talk, we discuss graphical
games. Standard differential multi-agent game theory has
a centralized dynamics affected by the control policies
of multiple agent players. We give a new formulation for
games on communication graphs. Standard definitions of
Nash equilibrium are not useful for graphical games since,
though in Nash equilibrium, all agents may not achieve
synchronization. A strengthened definition of Interactive
Nash equilibrium is given that guarantees that all agents
are participants in the same game, and that all agents
achieve synchronization while optimizing their own value
functions. |
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| Dr.
F.L. Lewis, Fellow IEEE, Fellow IFAC, Fellow U.K. Institute
of Measurement & Control, PE Texas, U.K. Chartered Engineer,
is Distinguished Scholar Professor and Moncrief-O'Donnell
Chair at University of Texas at Arlington's Automation
& Robotics Research Institute. He obtained the Bachelor's
Degree in Physics/EE and the MSEE at Rice University,
the MS in Aeronautical Engineering from Univ. W. Florida,
and the Ph.D. at Ga. Tech. He works in feedback control,
intelligent systems, distributed control systems, and
sensor networks. He is author of 6 U.S. patents, 216 journal
papers, 330 conference papers, 14 books, 44 chapters,
and 11 journal special issues. He received the Fulbright
Research Award, NSF Research Initiation Grant, ASEE Terman
Award, Int. Neural Network Soc. Gabor Award 2009, U.K.
Inst Measurement & Control Honeywell Field Engineering
Medal 2009. Received Outstanding Service Award from Dallas
IEEE Section, selected as Engineer of the year by Ft.
Worth IEEE Section. Listed in Ft. Worth Business Press
Top 200 Leaders in Manufacturing. Received the 2010 IEEE
Region 5 Outstanding Engineering Educator Award and the
2010 UTA Graduate Dean's Excellence in Doctoral Mentoring
Award. He served on the NAE Committee on Space Station
in 1995. He is an elected Guest Consulting Professor at
South China University of Technology and Shanghai Jiao
Tong University. Founding Member of the Board of Governors
of the Mediterranean Control Association. Helped win the
IEEE Control Systems Society Best Chapter Award (as Founding
Chairman of DFW Chapter), the National Sigma Xi Award
for Outstanding Chapter (as President of UTA Chapter),
and the US SBA Tibbets Award in 1996 (as Director of ARRI's
SBIR Program). |
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Enquiries
Ms. Winnie Wong,
Department of Mechanical and Automation Engineering,
CUHK
Tel: (852) 3943 8337
Website: www3.mae.cuhk.edu.hk/maeseminars.php#mae.
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