Séminaire d’automatique @ Paris-Saclay

Cette série de séminaires vise à faire connaître, dans la communauté de H-CODE, les avancées récentes concernant les domaines de l’automatique et de la théorie du contrôle, ainsi que des thématiques émergentes corrélées.

Organisateurs :

Next Seminar

13h40–14h00 — Amphi Gaston Planté, B2.33 (L2S)

An approach for safe learning-based Model Predictive Control

Anas Makdesi (L2S)

Abstract. In this talk, I will introduce a novel approach to safe learning-based Model Predictive Control (MPC) for nonlinear systems. The approach relies on computing from data sampled from a given system, two models. The first one is a set-valued over-approximation guaranteed to contain the dynamics of the true system. This model is used to find a set of safe controller actions at every state. The second model is a single-valued estimation of the dynamics used to find a controller to minimize a cost function. By forcing the single-valued estimation to be included in the over-approximation, we can use the set of safe controller actions to constrain the minimization problem to guarantee the feasibility and safety of the learning-based MPC controller.

14h00–15h00 — Amphi Gaston Planté, B2.33 (L2S)

Convex liftings in control design. Connections with inverse optimality and path planning

Sorin Olaru (L2S)

Abstract. Convex liftings (and their dual projection operations) emerged recently as an attractive framework to handle complex nonlinear decision problems. It has been investigated in the last ten years in relationship with inverse parametric linear/quadratic programming and then extended to several related topics. In the first studies, the aim was to construct an appropriate optimization problem composed of a set of linear constraints and a cost function such that the optimal solution to such a problem is equivalent to the given piecewise affine function defined over a polyhedral partition. The present talk introduces the constructive procedure established to address this problem. As a first geometrical result, an algorithm to construct convex liftings of a given convexly liftable cell complex will be put forward. Pursuing this idea, an important result will be presented: any continuous piecewise affine function defined over a polyhedral partition is the solution of a parametric linear/quadratic programming problem which can be numerically constructed. Furthermore, this convex lifting based method requires at most one supplementary dimension. This structural result has interesting connections to control design: in constrained linear model predictive control (MPC) where it can be shown that any continuous piecewise affine control law can be obtained via a reformulated linear MPC problem with the control horizon at most equal to two prediction steps; in the evaluation of PWA controllers through a fast positioning mechanism; in obstacle avoidance problems to generate feasible corridors for navigation.

Biography. Sorin Olaru is a Professor at CentraleSupélec in France where he holds the RTE Chair on « The Digital Transformation of Electricity Networks ». He is also member of the CNRS Laboratory of Signals and Systems within the Paris-Saclay University. His research interests encompass optimization-based control design, set-theoretic characterization of constrained dynamical systems and the numerical methods with specific applications in congestion control of energy networks or autonomous driving. He is currently involved in international research projects related to embedded predictive control, fault tolerant control and network control (time-delay) systems.

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Past Seminars

Séminaire de Nicolas Vanspranghe

10h00-11h00 – Salle du conseil (L2S) Output regulation for infinite-dimensional systems: A forwarding-based approach Nicolas Vanspranghe (GIPSA-lab) Abstract. The output regulation problem for infinite-dimensional nonlinear systems is considered. …
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Séminaire de Paolo Piccione

11h00-12h00 – Salle du conseil (L2S) Minimal 2-spheres in ellipsoids via global bifurcation theory Paolo Piccione (Universidade de São Paulo, Brazil) Abstract. I will give an overview of …
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Séminaire de Lucas Brivadis

14h00-15h00 – Online Infinite-dimensional Luenberger observers: application to a crystallization process Lucas Brivadis (LAGEPP, Université Lyon 1) Abstract. During a crystallization process, the Particle Size Distribution (PSD) is …
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Séminaire de Emmanuel Gobet

11/05/2021 – 16h30-17h30 – Online Federated stochastic control of numerous heterogeneous energy storage systems Emmanuel Gobet (CMAP, École Polytechnique, Palaiseau) Abstract. We propose a stochastic control problem to …
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Séminaire de Frédéric Boyer

06/04/2021 – 14h00-15h00 – Online Dynamics of continuum and soft robots: a strain parametrization based approach Frédéric Boyer (LS2N, IMT-Atlantique, Nantes) Abstract. In this seminar we propose a …
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Séminaire de Vincent Perrollaz

23/03/2021 – 14h00-15h00 – Online Control and Feedback stabilization for entropy solutions to conservation laws Vincent Perrollaz (IDS, Université de Tours) Abstract. Hyperbolic conservation laws are partial differential …
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