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• Διάλεξη του Kαθηγητή Dariusz Horla, Vice-dean for Scientific Evaluation and Quality of Education, Poznan University of Technology, με θέμα: Simple optimization techniques to tune UAVs

Διάλεξη του Kαθηγητή Dariusz Horla, Vice-dean for Scientific Evaluation and Quality of Education, Poznan University of Technology, με θέμα: Simple optimization techniques to tune UAVs

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• Συντάχθηκε 01-11-2024 13:08

  Ενημερώθηκε: -

  Τόπος: Γ.3.0.1.13-1 (Αίθουσα Μεταπτυχιακών Μ.Π.Δ, Νέο κτίριο Σχολής Μ.Π.Δ)

  Ημερομηνία: 6/11/2024

  Έναρξη: 17.30

  Zoom link:

  https://tuc-gr.zoom.us/j/99203209592?pwd=2Te6Y4BewOFtSdGNnFDcnP2Lt52sLM.1

  Topic: Simple optimization techniques to tune UAVs

  Abstract: A novel auto-tuning 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 on-board 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.  

  About the speaker: 

  

  Dr. Dariusz Horla, is a full professor, working in Poznan University Technology, in the Institute of Robotics and Machine Intelligence at the Faculty of Automatic Control, Robotics and Electrical Engineering of Poznan University of Technology, Poland, and head of ACT (Applied Control Techniques) group. He received his M. Sc. (Eng.) degree in control and robotics at Poznan University of Technology, in 2002. In 2002, he started his Ph.D. studies in control and robotics under supervision of prof. Andrzej Królikowski and received a Ph.D. degree in 2005, with honours, with the thesis Application of linear matrix inequalities methods to anti-windup compensation in adaptive control systems. In 2012, he published his habilitation monograph entitled Interplay of directional change in controls and windup phenomena – analysis and synthesis of compensators, and in 2013, He received his D.Sc. Degree (habilitation) from control sciences. In 2020 he became a professor of PUT, and in 2023 he became a full professor.

  Currently, he gives lectures on Control basics, Theory and methods of optimization, Adaptive and robust control, supervises graduate and Ph.D. students. His research interests include: anti-windup compensation, directional change in controls, multivariable control systems, adaptive and robust control, optimal control, linear matrix inequalities, fractional-order systems and optimization theory, including UAV applications.   

   

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