報告人：Khashayar Khorasani教授
Speaker: Prof. Khashayar Khorasani
主持人：郭迎清教授
Host: Prof. YingqingGuo
時間：2019年7月5日（星期五）上午9:30
Time: 9:30am-11:30am, July5 2019
地點：長安校區動力與能源學院大樓225會議室
Place: Conference room 225, School of Power and Energy
主題：無人多智能體系統網絡的協同控制與故障恢復
Topic:Cooperative Control and Fault Recovery of a Network of Unmanned Multi-Agent Systems
內容簡介:
由于網絡化無人自主系統的運行不需要人類廣泛參與，人們對它的開發越來越感興趣。該無人自主系統的出現可以追溯到由于環境危害、任務的異常復雜或其它限制，人工無法直接干預的應用需求。這個網絡可能由大量動力學系統（agents）組成，例如無人機（UAV）、無人地面車輛（UGV）或無人水下車輛（UUV）。這些系統中的任何一個通常都可以由許多傳感器、執行器和決策者組成，因此這些系統的網絡是一個由大量傳感器和執行器組成的網絡，或者如文獻所知，是一個系統體系（SoS）。
在本次講座中，概述了控制這些網絡及其應用以及所提出的解決方案。具體而言，本講座通過關注在通信，控制實現和飽和約束的存在下的協同控制和共識（形成）控制，提供了關于多代理共識的最新結果和進展的概述。此外，總結了K. Khorasani教授團隊最近在無人系統的線性和非線性網絡的故障診斷和控制恢復中取得和發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.
報告人簡介
Speaker’s Biography
K. Khorasani教授分別于1981年，1982年和1985年在伊利諾伊大學厄巴納香檳分校獲得電氣與計算機工程專業的學士、碩士和博士學位。1985年至1988年期間，在密歇根大學迪爾伯恩分校擔任助理教授。1988至今，在加拿大蒙特利爾的康考迪亞大學工作，目前是該大學電氣和計算機工程系教授，并擔任康考迪亞航空航天設計與創新研究所（CIADI）主席。
K. Khorasani教授的主要研究領域有:非線性系統自適應控制，網絡化無人系統的智能和自主控制，故障診斷、隔離和恢復（FDIR），診斷、預測和健康管理（DPHM），網絡物理系統（CPS）和網絡安全，衛星，無人機，UUV，神經網絡和自適應結構機器學習。
在以上研究領域中，K. Khorasani教授撰寫了超過450多篇學術著作，并擔任IEEE航空航天和電子系統副主編。在過去的34年期間，培養了超過125位碩士和博士研究生，并撰寫和合著了450多篇會議和期刊論文。從1988年至今的統計顯示，他的谷歌學術論文的被引用次數超過10,000，其中包括52篇高索引論文以及220篇影響因子大于10的學術論文。
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).
