Model Predictive Control of Hybrid Dynamical Systems

Speaker: Prof. Ricardo G. Sanfelice
Affiliation: University of California, Santa Cruz

Abstract: Hybrid systems model the behavior of dynamical systems in which the states can evolve continuously and, at isolate time instances, exhibit instantaneous jumps. Such systems arise when control algorithms that involve digital devices are applied to continuous-time systems, or when the intrinsic dynamics of the system itself has such hybrid behavior, for example, in mechanical systems with impacts, switching electrical circuits, spiking neurons, etc. Hybrid control may be used for improved performance and robustness properties compared to conventional control, and hybrid dynamics may be unavoidable due to the interplay between digital and analog components in a cyber-physical system. In this talk, we will introduce analysis and design tools for model predictive control (MPC) schemes for hybrid systems. We will present recently developed results on asymptotically stabilizing MPC for hybrid systems based on control Lyapunov functions. After a short overview of the state of the art on hybrid MPC, and a brief introduction to a powerful hybrid systems framework, we will present key concepts and analysis tools. After that, we will lay out the theoretical foundations of a general MPC framework for hybrid systems, with guaranteed stability and feasibility.  In particular, we will characterize invariance properties of the feasible set and the terminal constraint sets, continuity of the value function, and use these results to establish asymptotic stability of the hybrid closed-loop system.  To conclude, we will illustrate the framework in several applications and summarize some of the open problems, in particular, those related to computational issues.

Biography: Ricardo G. Sanfelice is Professor of Electrical and Computer Engineering, University of California at Santa Cruz, CA, USA. He received his M.S. and Ph.D. degrees in 2004 and 2007, respectively, from the University of California, Santa Barbara. During 2007 and 2008, he was a Postdoctoral Associate at the Laboratory for Information and Decision Systems at the Massachusetts Institute of Technology and visited the Centre Automatique et Systemes at the Ecole de Mines de Paris for four months. Prof. Sanfelice is the recipient of the 2013 SIAM Control and Systems Theory Prize, the National Science Foundation CAREER award, the Air Force Young Investigator Research Award, the 2010 IEEE Control Systems Magazine Outstanding Paper Award, and the 2012 STAR Higher Education Award for his contributions to STEM education. He is Associate Editor for Automatica and serves as Chair of the Hybrid Systems Technical Committee from the IEEE Control Systems Society. He is Director of the Cyber-Physical Systems Research Center at UCSC. His research interests are in modeling, stability, robust control, observer design, and simulation of nonlinear and hybrid systems with applications to robotics, power systems, aerospace, and biology.

For more information, contact Prof. Suhas Diggavi ()

Date(s) - Dec 02, 2019
12:30 pm - 1:30 pm

EE-IV Shannon Room #54-134
420 Westwood Plaza - 5th Flr., Los Angeles CA 90095