报告人：Khashayar Khorasani教授
Speaker: Prof. Khashayar Khorasani
主持人：郭迎清教授
Host: Prof. YingqingGuo
时间：2019年7月5日（星期五）上午9:30
Time: 9:30am-11:30am, July5 2019
地点：长安校区动力与能源学院大楼225会议室
Place: Conference room 225, School of Power and Energy
主题：无人多智能体系统网络的协同控制与故障恢复
Topic:Cooperative Control and Fault Recovery of a Network of Unmanned Multi-Agent Systems
内容简介:
由于网络化无人自主系统的运行不需要人类广泛参与，人们对它的开发越来越感兴趣。该无人自主系统的出现可以追溯到由于环境危害、任务的异常复杂或其它限制，人工无法直接干预的应用需求。这个网络可能由大量动力学系统（agents）组成，例如无人机（UAV）、无人地面车辆（UGV）或无人水下车辆（UUV）。这些系统中的任何一个通常都可以由许多传感器、执行器和决策者组成，因此这些系统的网络是一个由大量传感器和执行器组成的网络，或者如文献所知，是一个系统体系（SoS）。
在本次讲座中，概述了控制这些网络及其应用以及所提出的解决方案。具体而言，本讲座通过关注在通信，控制实现和饱和约束的存在下的协同控制和共识（形成）控制，提供了关于多代理共识的最新结果和进展的概述。此外，总结了K. Khorasani教授团队最近在无人系统的线性和非线性网络的故障诊断和控制恢复中取得和发展的研究成果和成就。
Introduction:
There has been a growing interest towards development of networked unmanned autonomous systems that can operate without an extensive involvement of humans. The motivations for this focus may be traced to emergence of applications where direct human intervention is not possible due to either environmental hazards, extraordinary complexity of the tasks, or other restrictions. These networks may be potentially made up of a large number of dynamical systems (agents), such as Unmanned Aerial Vehicles (UAVs), Unmanned Ground Vehicles (UGVs), or Unmanned Underwater Vehicles (UUVs). Any of these systems can commonly consist of a number of sensors, actuators and decision makers, and therefore the network of these systems is a network of large number of sensors and actuators or as is known in the literature, a system of systems (SoS).
In this talk, we provide an overview of controlling these networks, their applications, as well as the solutions proposed. Specifically, this talk provides an overview on recent results and progresses made on multi-agent consensus, by focusing on cooperative control and consensus (formation) control in presence of communication, control implementation, and saturation constraints. Moreover, we provide a summary of the research outcomes and accomplishments that we have recently achieved and developed in the fault diagnosis and control recovery of both linear and nonlinear network of unmanned systems.
报告人简介
Speaker’s Biography
K. Khorasani教授分别于1981年，1982年和1985年在伊利诺伊大学厄巴纳香槟分校获得电气与计算机工程专业的学士、硕士和博士学位。1985年至1988年期间，在密歇根大学迪尔伯恩分校担任助理教授。1988至今，在加拿大蒙特利尔的康考迪亚大学工作，目前是该大学电气和计算机工程系教授，并担任康考迪亚航空航天设计与创新研究所（CIADI）主席。
K. Khorasani教授的主要研究领域有:非线性系统自适应控制，网络化无人系统的智能和自主控制，故障诊断、隔离和恢复（FDIR），诊断、预测和健康管理（DPHM），网络物理系统（CPS）和网络安全，卫星，无人机，UUV，神经网络和自适应结构机器学习。
在以上研究领域中，K. Khorasani教授撰写了超过450多篇学术著作，并担任IEEE航空航天和电子系统副主编。在过去的34年期间，培养了超过125位硕士和博士研究生，并撰写和合著了450多篇会议和期刊论文。从1988年至今的统计显示，他的谷歌学术论文的被引用次数超过10,000，其中包括52篇高索引论文以及220篇影响因子大于10的学术论文。
K. Khorasani received the B.S., M.S., and Ph.D. degrees in Electrical and Computer Engineering from the University of Illinois at Urbana-Champaign in 1981, 1982 and 1985, respectively. From 1985 to 1988 he was an Assistant Professor at the University of Michigan at Dearborn and since 1988, he has been at Concordia University, Montreal, Canada, where he is currently a Professor and University Tier I Research Chair in the Department of Electrical and Computer Engineering and Concordia Institute for Aerospace Design and Innovation (CIADI). His main areas of research are in nonlinear and adaptive control, intelligent and autonomous control of networked unmanned systems, fault diagnosis, isolation and recovery (FDIR), diagnosis, prognosis, and health management (DPHM), cyber-physical systems (CPS) and cybersecurity, satellites, UAVs, UUVs, neural networks, and adaptive structure machine learning. He has authored/co-authored over 450 publications in these areas. He has served as an Associate Editor of the IEEE Transactions on Aerospace and Electronic Systems. Over the past 34 years, he has graduated more than 125 Master of Applied Science (Thesis), Ph.D., and PDFs and has authored and co-authored over 450 refereed conference and journal publications. His Google Scholar citation index is over 10,000 (Since 1988) and his Google Scholar h-index is 52 and i10-index is 220 (Since 1988).
