南开大学机器人与信息自动化研究所 天津市智能机器人技术重点实验室

Institute of Robotics and Automatic Information System

Tianjin Key Laboratory of Intelligent Robotics

2024年秋季先进机器人与人工智能系列学术讲座（第260期）

Seminar Series：Advanced Robotics & Artificial Intelligence

报告时间：2024年9月27日（周五）19:00~20:00

报告地点：腾讯会议 435-862-039

报告嘉宾：张瑶 博士

专家单位：UCL/University of Southampton, England

研究领域：Advanced control for maritime engineering

报告题目：Sliding Mode Observer Based Model Predictive Control For Linear Systems

报告摘要：

For perturbed continuous-time systems, this paper proposes a robust model predictive control (RMPC) strategy for the regulation problem, exploiting a sliding mode disturbance observer. The main advantage is that it effectively enables the RMPC to be designed based on a model with reduced uncertainties. The proposed sliding mode observer (SMO) is finite-time convergent allowing the estimation error of the additive disturbance to be explicitly bounded by a predictable and decreasing limit. Due to the compensation of the estimated disturbance, the uncertainty that the RMPC has to handle is reduced from the original disturbance to the estimation error of the disturbance. This ensures all the admissible state trajectories are limited within a shrinking neighborhood of the origin and the steady-state error is therefore reduced. Simulation results show the effectiveness of the proposed method.

报告人简介：

Dr. Yao Zhang a Senior Lecturer in Maritime Engineering within Engineering and Physical Sciences at the University of Southampton. She will join Department of Mechanical Engineering at UCL in December 2024. She is a Deputy Editor of Ocean Engineering (JCR Q1), an Asociate Editor of IEEE Transactions on Industrial Informatics (JCR Q1), and an Associate Editor of IET Generation, Transmission, & Distribution (JCR Q2). She is also on the editorial board of Sustainable Marine Structures. She is also a member of IEEE and a Fellow of Higher Education Academy. She is on committee of the IEEE UK and Ireland Control Systems Chapter and an IEEE Women In Engineering Ambassador in UK and Ireland Section. She sits in the high-level excomm communittee in IEEE Women In Engineering. She has published 30 journal papers in SCI journals, including Automatica, IEEE Trans on Sustainable Energy, etc. She also chaired special sessions in 14th United Kingdom Automation Control Conference.