Imperial College London > Talks@ee.imperial > Featured talks > The Geometry of Over-actuated Systems: Application to Dynamic Control Allocation

The Geometry of Over-actuated Systems: Application to Dynamic Control Allocation

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Input redundancy in a control system is typically resolved by means of (static) control allocation strategies, where the standing assumption prescribes that one can define a virtual control input that has the same dimensionality of the regulated output. A control strategy designed on the basis of this virtual input is then “distributed” across the redundant set of actuators via on-line optimization. Essentially, this scenario confines redundancy to the null-space of the input operator, which can be factored out by projection. On the other hand, the elusive case of input redundancy with full-rank input operators constitutes an “intrinsic redundancy” in the system, as multiple independently controllable state-trajectories exist that are compatible with a given reference output. In this talk, a geometric characterization of intrinsically redundant linear systems is offered within the context of the output regulation problem. It is shown that intrinsic input redundancy can be exploited in the system inverse rather than in the plant model itself, leading to the definition of novel dynamic control allocation strategies. In the proposed scheme, the steady-state behavior of the system is shaped through dynamic optimization of selected performance criteria penalizing both the control input and the state trajectory, while maintaining invariance of the error-zeroing subspace. Illustrative examples are presented to elucidate the applicability and the significance of the method.

Bio: Andrea Serrani received the B.Eng. (Laurea) degree cum laude in Electrical Engineering from the University of Ancona, Italy, in 1993. He received the Ph.D. degree (Dottorato di Ricerca) in Artificial Intelligence Systems from the same institution in 1997, under the supervision of Prof. Giuseppe Conte. From 1994 to 1999, he was a Fulbright Fellow at the Department of Systems Science and Mathematics,Washington University in St.Louis, where he obtained the Doctor of Science degree in Systems Science and Mathematics in 2000, under the supervision of Prof. Alberto Isidori. From 2000 to 2002 he held a research associate position at the Department of Electronics and Automation at the University of Ancona, Italy. From 2002 to 2008, he was an Assistant Professor with the Department of Electrical and Computer Engineering at The Ohio State University, Columbus, Ohio, where he is currently an Asoociate Professor with tenure.

Prof. Serrani is the recipient of a 2007 Lumley Research Award and the co-recipient (with Prof. Mo Samimy) of the 2008 Lumley Interdisciplinary Research Award, both from the College of Engineering at OSU . He is a member of IEEE , AIAA and IFAC . He is an Associate Editor for Automatica, The International Journal of Robust and Nonlinear Control, and serves in the IEEE Conference Editorial Board as Area Editor for Nonlinear Systems, Area Editor for Fluid Flow Systems, and Associate Editor for invited and regular papers in Nonlinear, Adaptive, and Aerospace Systems.

Prof. Serrani’s research interests lie in the field of control and systems theory, with emphasis on nonlinear control, tracking and regulation, nonlinear dynamical systems, and application to aerospace and marine systems. He is currently involved in research projects on modeling, guidance and control of air-breathing hypersonic vehicle, and on areodynamic flow control, supported by NASA and AFRL /DAGSI.He is the co-author (with A. Isidori and L. Marconi) of the book Robust Autonomous Guidance: An Internal Model-Based Approach, published by Springer-Verlag, and the author or co-author of more than 100 journal and conference papers and chapters in edited books.

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