Colloquia "Stability of Nonlinear Control Systems Under Intermittent Information with Applications to Multi-Agent Robotics"

Abstract:

This talk investigated stability of nonlinear control systems under intermittent information.
This means that the traditional periodic paradigm, where up-to-date information are transmitted and
control laws are executed in a periodic fashion, is replaced with the event-triggered paradigm.
In other words, based on the currently available (but outdated) measurements of the outputs and
external inputs of a plant, a simple expression for when to obtain new up-to-date measurements and
execute the control law is provided. Next, we tackled the problem of optimal intermittent feedback.
Based on the currently available measurements from a plant, we developed a methodology that outputs when to update the controller with new measurements such that a given cost function is minimized. Lastly, we employed self-triggered communication towards decentralized output synchronization of heterogeneous linear systems with switching topology.

Slides: ACROSS_Colloquia12_Tolic

CV:

Domagoj Tolić is a postdoctoral researcher in the Research Centre for Advanced Cooperative Systems (ACROSS) at the Department of Control and Computer Engineering ,University of Zagreb, Faculty of Electrical Engineering and Computing (FER). He graduated from FER with a Masters degree (Dipl.-Ing.) in Electrical Engineering in 2007., majoring in Control Systems. In addition, he graduated from the Mathematics Department of University of Zagreb with a Bachelor Degree in Mathematics in 2008. Afterwards, he enrolled in the Ph.D program, the Control Systems major, at the Department of Electrical and Computer Engineering, University of New Mexico (UNM), Albuquerque, NM. He completed his Ph.D program in August 2012. His research focuses on stability and estimation under intermittent information for nonlinear control systems. The developed theory is applied to problems in the area of multi-agent robotics.