報(bào)告人：Khashayar Khorasani教授
Speaker: Prof. Khashayar Khorasani
主持人：郭迎清教授
Host: Prof. YingqingGuo
時(shí)間：2019年7月5日（星期五）上午9:30
Time: 9:30am-11:30am, July5 2019
地點(diǎn)：長(zhǎng)安校區(qū)動(dòng)力與能源學(xué)院大樓225會(huì)議室
Place: Conference room 225, School of Power and Energy
主題：無(wú)人多智能體系統(tǒng)網(wǎng)絡(luò)的協(xié)同控制與故障恢復(fù)
Topic:Cooperative Control and Fault Recovery of a Network of Unmanned Multi-Agent Systems
內(nèi)容簡(jiǎn)介:
由于網(wǎng)絡(luò)化無(wú)人自主系統(tǒng)的運(yùn)行不需要人類(lèi)廣泛參與，人們對(duì)它的開(kāi)發(fā)越來(lái)越感興趣。該無(wú)人自主系統(tǒng)的出現(xiàn)可以追溯到由于環(huán)境危害、任務(wù)的異常復(fù)雜或其它限制，人工無(wú)法直接干預(yù)的應(yīng)用需求。這個(gè)網(wǎng)絡(luò)可能由大量動(dòng)力學(xué)系統(tǒng)（agents）組成，例如無(wú)人機(jī)（UAV）、無(wú)人地面車(chē)輛（UGV）或無(wú)人水下車(chē)輛（UUV）。這些系統(tǒng)中的任何一個(gè)通常都可以由許多傳感器、執(zhí)行器和決策者組成，因此這些系統(tǒng)的網(wǎng)絡(luò)是一個(gè)由大量傳感器和執(zhí)行器組成的網(wǎng)絡(luò)，或者如文獻(xiàn)所知，是一個(gè)系統(tǒng)體系（SoS）。
在本次講座中，概述了控制這些網(wǎng)絡(luò)及其應(yīng)用以及所提出的解決方案。具體而言，本講座通過(guò)關(guān)注在通信，控制實(shí)現(xiàn)和飽和約束的存在下的協(xié)同控制和共識(shí)（形成）控制，提供了關(guān)于多代理共識(shí)的最新結(jié)果和進(jìn)展的概述。此外，總結(jié)了K. Khorasani教授團(tuán)隊(duì)最近在無(wú)人系統(tǒng)的線(xiàn)性和非線(xiàn)性網(wǎng)絡(luò)的故障診斷和控制恢復(fù)中取得和發(fā)展的研究成果和成就。
Introduction:
There has been a growing interest towards development of networked unmanned autonomous systems that can operate without an extensive involvement of humans. The motivations for this focus may be traced to emergence of applications where direct human intervention is not possible due to either environmental hazards, extraordinary complexity of the tasks, or other restrictions. These networks may be potentially made up of a large number of dynamical systems (agents), such as Unmanned Aerial Vehicles (UAVs), Unmanned Ground Vehicles (UGVs), or Unmanned Underwater Vehicles (UUVs). Any of these systems can commonly consist of a number of sensors, actuators and decision makers, and therefore the network of these systems is a network of large number of sensors and actuators or as is known in the literature, a system of systems (SoS).
In this talk, we provide an overview of controlling these networks, their applications, as well as the solutions proposed. Specifically, this talk provides an overview on recent results and progresses made on multi-agent consensus, by focusing on cooperative control and consensus (formation) control in presence of communication, control implementation, and saturation constraints. Moreover, we provide a summary of the research outcomes and accomplishments that we have recently achieved and developed in the fault diagnosis and control recovery of both linear and nonlinear network of unmanned systems.
報(bào)告人簡(jiǎn)介
Speaker’s Biography
K. Khorasani教授分別于1981年，1982年和1985年在伊利諾伊大學(xué)厄巴納香檳分校獲得電氣與計(jì)算機(jī)工程專(zhuān)業(yè)的學(xué)士、碩士和博士學(xué)位。1985年至1988年期間，在密歇根大學(xué)迪爾伯恩分校擔(dān)任助理教授。1988至今，在加拿大蒙特利爾的康考迪亞大學(xué)工作，目前是該大學(xué)電氣和計(jì)算機(jī)工程系教授，并擔(dān)任康考迪亞航空航天設(shè)計(jì)與創(chuàng)新研究所（CIADI）主席。
K. Khorasani教授的主要研究領(lǐng)域有:非線(xiàn)性系統(tǒng)自適應(yīng)控制，網(wǎng)絡(luò)化無(wú)人系統(tǒng)的智能和自主控制，故障診斷、隔離和恢復(fù)（FDIR），診斷、預(yù)測(cè)和健康管理（DPHM），網(wǎng)絡(luò)物理系統(tǒng)（CPS）和網(wǎng)絡(luò)安全，衛(wèi)星，無(wú)人機(jī)，UUV，神經(jīng)網(wǎng)絡(luò)和自適應(yīng)結(jié)構(gòu)機(jī)器學(xué)習(xí)。
在以上研究領(lǐng)域中，K. Khorasani教授撰寫(xiě)了超過(guò)450多篇學(xué)術(shù)著作，并擔(dān)任IEEE航空航天和電子系統(tǒng)副主編。在過(guò)去的34年期間，培養(yǎng)了超過(guò)125位碩士和博士研究生，并撰寫(xiě)和合著了450多篇會(huì)議和期刊論文。從1988年至今的統(tǒng)計(jì)顯示，他的谷歌學(xué)術(shù)論文的被引用次數(shù)超過(guò)10,000，其中包括52篇高索引論文以及220篇影響因子大于10的學(xué)術(shù)論文。
K. Khorasani received the B.S., M.S., and Ph.D. degrees in Electrical and Computer Engineering from the University of Illinois at Urbana-Champaign in 1981, 1982 and 1985, respectively. From 1985 to 1988 he was an Assistant Professor at the University of Michigan at Dearborn and since 1988, he has been at Concordia University, Montreal, Canada, where he is currently a Professor and University Tier I Research Chair in the Department of Electrical and Computer Engineering and Concordia Institute for Aerospace Design and Innovation (CIADI). His main areas of research are in nonlinear and adaptive control, intelligent and autonomous control of networked unmanned systems, fault diagnosis, isolation and recovery (FDIR), diagnosis, prognosis, and health management (DPHM), cyber-physical systems (CPS) and cybersecurity, satellites, UAVs, UUVs, neural networks, and adaptive structure machine learning. He has authored/co-authored over 450 publications in these areas. He has served as an Associate Editor of the IEEE Transactions on Aerospace and Electronic Systems. Over the past 34 years, he has graduated more than 125 Master of Applied Science (Thesis), Ph.D., and PDFs and has authored and co-authored over 450 refereed conference and journal publications. His Google Scholar citation index is over 10,000 (Since 1988) and his Google Scholar h-index is 52 and i10-index is 220 (Since 1988).
