On this Thursday, June 9, 2016 at 14:00 in room No.641 Assistant Professor Boris Houska, Ph.D. from ShanghaiTech University will deliver a seminar on "ALADIN - An Augmented Lagrangian Based Algorithm for Distributed Non-Convex Optimization and Control".

Speaker: Assistant Professor Boris Houska, Ph.D.
He received a diploma in mathematics and physics from the University of Heidelberg in 2007, and a Ph.D. in Electrical Engineering from KU Leuven in 2011. From 2012 to 2013 he was a postdoctoral researcher at the Centre for Process Systems Engineering at Imperial College London. From 2013-2014 Boris Houska worked as faculty member at the Department of Automation at Shanghai Jiao Tong University. In August and September 2014 he was a guest professor at the Institute for Microsystems Engineering at the University of Freiburg. Since October 2014 Boris Houska is an assistant professor at the School of Information Science and Technology at ShanghaiTech University.

 

Title:

Nonlinear and Robust MPC Using Min-Max Differential Inequalities

Abstract:

This talk is about tube-based model predictive control (MPC) for both linear and nonlinear continuous-time dynamic systems that are affected by time-varying disturbances. We derive a min-max differential inequality describing the support function of positive robust forward invariant tubes, which can be used to construct a variety of conservative, but computationally tractable, tube-based model predictive controllers. The implementation of these robust MPC controllers is based on an automatic C-code generation strategy for real-time nonlinear model predictive control. We illustrate the performance of the proposed methods with applications in the field of mechatronics.

Slides: Download PDF (approx. 2MB)

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