Hybrid Feedback Control with Robotic Applications

Guest Speaker:
Ricardo G. Sanfelice – Elect. and Computer Engineering, UC Santa Cruz

Wednesday, February 10, 2021

ABSTRACT: Hybrid systems have become prevalent when describing complex systems that mix continuous and impulsive dynamics. For instance, in cyber-physical systems, continuous dynamics usually govern the evolution of the physical variables in the system, while impulsive (or discrete) behavior is typically due to events in the control algorithm or in the communication network. A mathematical framework comprised of differential and difference equations/inclusions with constraints will be introduced to model, analyze, and design such systems. An appropriate notion of solution and basic properties on the system data will be introduced. Tools for the analysis and synthesis of robust hybrid feedback control systems will be presented. The talk will provide an overview of tools guaranteeing asymptotic stability, invariance, safety, robustness, and the satisfaction of temporal logic specifications. Recent development on hybrid model predictive control and relevant robotic applications will be highlighted.

Biography: Ricardo G. Sanfelice is Professor of Electrical and Computer Engineering, University of California at Santa Cruz, CA, USA. He received his M.S. and Ph.D. degrees in 2004 and 2007, respectively, from the University of California, Santa Barbara. During 2007 and 2008, he was a Postdoctoral Associate at the Laboratory for Information and Decision Systems at the Massachusetts Institute of Technology and visited the Centre Automatique et Systemes at the Ecole de Mines de Paris for four months. Prof. Sanfelice is the recipient of the 2013 SIAM Control and Systems Theory Prize, the National Science Foundation CAREER award, the Air Force Young Investigator Research Award, the 2010 IEEE Control Systems Magazine Outstanding Paper Award, and the 2012 STAR Higher Education Award for his contributions to STEM education. He is Associate Editor for Automatica and has served as Chair of the Hybrid Systems Technical Committee from the IEEE Control Systems Society. He is Director of the Cyber-Physical Systems Research Center at UCSC. His research interests are in modeling, stability, robust control, observer design, and simulation of nonlinear and hybrid systems with applications to robotics, power systems, aerospace, and biology.

Host: Pierluigi Nuzzo
Center for Cyber-Physical Systems and the Internet of Things (CCI) http://cci.usc.edu
Ming Hsieh Institute for Electrical and Computer Engineering (MHI) http://mhi.usc.edu