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航空学院青年学术论坛第121讲 |

2018-10-25 11:20 审核人： |

时间：2018年10月30日下午14:30-18:00 地点：航空楼A706 主持人：王栋 教授
报告人：Dr. Lev B. Rapoport Laboratory of Nonlinear Control Systems Dynamics V.A. Trapeznikov Institute of Control Sciences, Russian Academy of Sciences and Topcon Positioning Systems 摘要：Control theory and GNSS navigation are now widely used in precise agriculture. Wheeled robots governed by GNSS and inertial sensors do most part of work in agriculture fields. He will talk about the problems of control theory and applied mathematics that arise in the control of agricultural robots. Planning of trajectories, synthesis of control laws, estimation of attraction domains, precise GNSS navigation will be described, as well as mathematical methods involved in solution of these problems. 报告人简介：Dr. Lev B. Rapoport received the B.S. and M.S. in Automatic Control from the Ural Polytechnic Institute, Ph.D. in Control Theory from the Institute of System Analysis of the USSR Academy of Sciences, and Dr. Sci. degree from the Institute of Control Sciences of Russian Academy of Sciences, where he now holds the laboratory head position. He works primarily in the areas of stability and stabilization of nonlinear control systems and precise navigation. He is the author of more than 100 articles in journals and books, has co-authored one monograph, and coauthored 10 United States patents. He is a member of editorial boards of several journals, including GPS Solutions and Automation and Remote Control. He is a senior research fellow of the Topcon Positioning Systems, the company manufacturing precise navigation and agriculture equipment.
报告人：Dr. Alexander V. Pesterev 摘要：The talk presents how to construct estimates of the attraction domain for nonlinear systems of special form. The systems under consideration arise when studying an affine control system with a bounded control resource that has a normal-form (canonical) representation. The representation in a normal form implies that the system is feedback linearizable. However, due to the boundedness of the control resource, the system closed by a linearizing feedback is linear only in a neighborhood of the equilibrium point and is nonlinear in the entire domain. This brings an important problem of finding a set of initial states from which the system can be stabilized at the equilibrium state, i.e., the attraction domain of the closed-loop system. We will consider a method for estimates of the attraction domain that is based on results of absolute stability theory. For a single-input control system, an estimate is constructed as an invariant ellipsoid of the nonlinear system, which is found by solving a system of linear matrix inequalities. For multi-input systems, the estimate is sought as a Cartesian product of invariant ellipsoids, and its construction also reduces to solving systems of linear matrix inequalities. The discussion is illustrated by numerical examples. 报告人简介：Dr. Alexander V. Pesterev received M.S. in Applied Mathematics and Control from Moscow Physics and Technology Institute, PhD in System Analysis and Automatic Control from the All-Union Institute for System Studies of the USSR Academy of Sciences, and Dr. Sci. degree (Phys.-Math.) in System Analysis, Control, and Information Processing from the Institute of Control Sciences of Russian Academy of Sciences. He worked in the areas of structural dynamics, vibration of complex distributed systems, optimization methods, nonlinear control, control of wheeled robots, and attitude estimation. He is the author of more than 100 papers in archival journals and conference proceedings and of 3 US patents. He was on the editorial boards of the Vibroengineering (2006-2011) and Int. Journal of Structural Stability and Dynamics (2006-2009). Dr. Pesterev currently works as the leading researcher at the Institute of Control Sciences, Russian Academy of Sciences, and at Javad GNSS company. He is the corresponding member of the IFAC Non-Linear Control Systems Technical Committee and the member of the Dissertation Council at the Institute of Control Sciences. |

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