Seminar "Observer-based path-following control in the presence of noisy discrete-time measurements".
You are cordially invited to participate in the ROC seminar at which we will have 2 presentations by invited professors (Márcio J. Lacerda, Juan Diego Sanchez Torres).
The whole event will take place on Monday, June 17, 2024 from 10am to 11:30am in Amphi E1 of the Bâtiment Claudin Lejeune 1.
The one by Diego Sanchez Torres will take place from 10:45 to 11:30 (after the seminar by Márcio J. Lacerda).
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Le 17/06/2024
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10:45 - 11:30
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Seminar
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Mont Houy Campus
Claudin Lejeune Building 1
Amphi E1
Title
Observer-based path-following control in the presence of noisy discrete-time measurements
Summary
This text deals with the trajectory tracking problem for autonomous mobile robots in the presence of discrete-time measurements, assuming that the available measurements are the position and orientation of the mobile robot.
With the mentioned measurements, an implicit discretization of the robust exact filtering differentiator is proposed to estimate the position and velocity of the mobile robot despite the presence of measurement noise while taking into account the sampling effect.
As a result, an output feedback controller is derived using the discrete-time filtering differentiator estimates, guaranteeing the stability of the closed-loop system despite noise and discrete measurements.
Short biography
Juan Diego Sánchez-Torres holds a degree in control engineering from the Universidad Nacional de Colombia and a PhD in electrical engineering from CINVESTAV Guadalajara, Mexico.
He is currently a full professor and researcher in the Department of Mathematics and Physics at the ITESO University of Guadalajara.
His research focuses on the control and observation of uncertain systems, mainly using sliding mode algorithms.
He is also interested in their applications to smart grids, electrical machines, mechanical systems and chemical processes.