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540:691
SEMINAR IN INDUSTRIAL & |
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Delay-Independent
Stability and Synchronization Abstract: Coordination and control of interconnected nonlinear systems is important in numerous practical applications, such as semi-autonomous robotic systems. Such systems are increasingly called on to perform critical tasks such as search-and-rescue, emergency response, surveillance, and telemedicine, among others. The aforementioned systems can be modeled as networked dynamical systems interacting over unreliable communication networks. However, the issues of coordination and control of networked heterogeneous dynamical systems with delays, losses, and network dropouts are not well understood. In
this talk we first study passivity and delay-independent stability of
interconnected nonlinear systems with time delay. We demonstrate an intrinsic
connection between the small gain condition and delay independent passivity/stability
of interconnected nonlinear systems. In general, a feedback interconnection
of passive systems does not admit a small gain. However, scattering theory
can be used to provide delay-independent stability when the delays are
constant. To handle time-varying delays, a modified scattering transformation
approach is developed to ensure delay-independent stability of the closed
loop system. The aforementioned results are then utilized to demonstrate
delay-independent synchrony in networked passive systems. We then discuss
the application of this approach to solve synchronization, trajectory
tracking and coordination problems in semi-autonomous systems. The talk
will conclude with some directions for future research. Bio: Nikhil Chopra received his Bachelor of Technology (Honors) degree in Mechanical Engineering from the Indian Institute of Technology, Kharagpur, India, in 2001 and his Ph.D. degree in Systems and Entrepreneurial Engineering in 2006 from the University of Illinois at Urbana-Champaign. He was a Postdoctoral Research Associate in the Coordinated Science Laboratory at the University of Illinois at Urbana-Champaign from 2006-2007. He is currently an Assistant Professor in the Department of Mechanical Engineering and the Institute for Systems Research at the University of Maryland at College Park. His research interests are in developing a fundamental understanding of synchronization and control of networked dynamical systems interacting over unreliable communication networks. This work is important in practical applications such as semi-autonomous telerobotic networks. He was awarded the William A. Chittenden Award for outstanding graduate research and the Vodafone Graduate Fellowship in 2003. He co-chairs the IEEE Technical Committee on Telerobotics.
*Refreshments
will be served in the IE lounge area at 4:30 prior to the seminar. Tel:
732-445-3657, Email: tboucher@rci.rutgers.edu |
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