Seminario Dariusz Horla
Seminario: "On using simple optimization techniques for tuning of UAVs / On improving adaptive control capabilities in control systems"
Ponente: Dr. Dariusz Horla, Poznan University of Technology, Poland.
Organiza: Alfonso García Cerezo,Robotics and Intelligent Control Systems. Robótica y Control Inteligente.
Lugar: Sala de Grados B, EII.
Fecha: Miércoles 15 de junio de 2022.
Título: "On using simple optimization techniques for tuning of UAVs"
Hora: 10:30-12:00
Abstract: A novel autotuning approach for finding locally-best parameters of controllers on board of unmanned aerial vehicles (UAVs) will be presented. The controller tuning is performed fully autonomously during flight on the basis of predefined ranges of controller parameters. Required controller properties may be simply interpreted by a cost function, which is involved in the optimization process. For example, the sum of absolute values of the tracking error samples or performance indices, including weighed functions of control signal samples, can be penalized to achieve very precise position control, if required. The proposed method relies on a zero-order optimization search technique fitted into bootstrap sequences, enabling one to obtain a global minimizer for a unimodal cost function. The approach is characterized by an extremely low computational complexity and does not require any UAV dynamics model (just periodical measurements from basic onboard sensors) to obtain proper tuning of a controller. In addition to outlining the complete, and yet simple, theoretical background of the method, an experimental verification in real-world outdoor conditions will provided with relation to multiple experiments, applications and results.
Título: "On improving adaptive control capabilities in control systems"
Hora: 12:00-13:30
Topic: Adaptive control based approaches extended by heuristic modifications to increase robustness issues of adaptive control.
Short Bio: Dr. Horla serves as Vice-dean for scientific evaluation and quality of education, Poznan University of Technology. He is an Associate Professor at the Faculty of Control, Robotics and Electrical Engineering Institute of Robotics and Machine Intelligence Division of Control and Optimization. Recent publications:https://www.mdpi.com/1424-8220/19/2/312/pdfhttps://www.sciencedirect.com/science/article/pii/S0019057820301932/pdfft?md5=3c582809f0c3aad2712fb059b4d788d8&pid=1-s2.0-S0019057820301932-main.pdfhttps://www.mdpi.com/1424-8220/21/4/1151/pdfhttps://onlinelibrary.wiley.com/doi/epdf/10.1002/asjc.1773https://www.mdpi.com/1996-1073/13/8/2062/pdf
La asistencia a estas conferencias está contemplada dentro de las Actividades Formativas para los doctorandos de nuestro programa. Para que se considere como actividad formativa, además de la asistencia, deberá subirse a DAD un resumen crítico realizado por el estudiante, que será validado por el tutor.
Seminario: "On using simple optimization techniques for tuning of UAVs / On improving adaptive control capabilities in control systems"
Ponente: Dr. Dariusz Horla, Poznan University of Technology, Poland.
Organiza: Alfonso García Cerezo,Robotics and Intelligent Control Systems. Robótica y Control Inteligente.
Lugar: Sala de Grados B, EII.
Fecha: Miércoles 15 de junio de 2022.
Título: "On using simple optimization techniques for tuning of UAVs"
Hora: 10:30-12:00
Abstract: A novel autotuning approach for finding locally-best parameters of controllers on board of unmanned aerial vehicles (UAVs) will be presented. The controller tuning is performed fully autonomously during flight on the basis of predefined ranges of controller parameters. Required controller properties may be simply interpreted by a cost function, which is involved in the optimization process. For example, the sum of absolute values of the tracking error samples or performance indices, including weighed functions of control signal samples, can be penalized to achieve very precise position control, if required. The proposed method relies on a zero-order optimization search technique fitted into bootstrap sequences, enabling one to obtain a global minimizer for a unimodal cost function. The approach is characterized by an extremely low computational complexity and does not require any UAV dynamics model (just periodical measurements from basic onboard sensors) to obtain proper tuning of a controller. In addition to outlining the complete, and yet simple, theoretical background of the method, an experimental verification in real-world outdoor conditions will provided with relation to multiple experiments, applications and results.
Título: "On improving adaptive control capabilities in control systems"
Hora: 12:00-13:30
Topic: Adaptive control based approaches extended by heuristic modifications to increase robustness issues of adaptive control.
Short Bio: Dr. Horla serves as Vice-dean for scientific evaluation and quality of education, Poznan University of Technology. He is an Associate Professor at the Faculty of Control, Robotics and Electrical Engineering Institute of Robotics and Machine Intelligence Division of Control and Optimization. Recent publications:https://www.mdpi.com/1424-8220/19/2/312/pdfhttps://www.sciencedirect.com/science/article/pii/S0019057820301932/pdfft?md5=3c582809f0c3aad2712fb059b4d788d8&pid=1-s2.0-S0019057820301932-main.pdfhttps://www.mdpi.com/1424-8220/21/4/1151/pdfhttps://onlinelibrary.wiley.com/doi/epdf/10.1002/asjc.1773https://www.mdpi.com/1996-1073/13/8/2062/pdf
