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Cooperative Control of a Collection of Constrained Nonlinear Systems: Theory and Application Dr. Zhihua Qu, Professor and Director Electrical Engineering Program Department of Electrical and Computer Engineering University of Central Florida Orlando, FL 32816 http://people.cecs.ucf.edu/qu/ Wednesday 25 Jan., 11am, ARRI Board Room ABSTRACT The presentation begins with some of on-going research issues in control of nonlinear and uncertain systems and then focuses upon two subjects. The first deals with stabilization and tracking control designs for nonholonomic systems. Canonical form, controllability, and existence of stabilizing control are reviewed. It is shown that nonholonomic systems are nonlinearly controllable but not linearly controllable around the origin. Because of this and other inherent difficulties, a new control design framework is proposed by introducing state and control transformations and by recovering linear controllability for nonholonomic systems in a transformed space. As a result, time-varying smooth controls can systematically be synthesized. Moreover, closed form controls can be derived and then optimized to achieve near optimal performance (the best achievable real time). The second topic deals with cooperative control of a set of individual dynamical systems among which information is communicated/collected via a communication/sensing network. Information exchange in the network observes local, intermittent, and dynamically changing patterns that cannot be modeled in any way. To study cooperative controllability of such networked dynamical systems, a matrix-theoretical approach is developed for both analysis and cooperative control designs, and a necessary and sufficient condition on cooperativeness is found. The results are illustrated by applications to unmanned vehicles. SHORT BIOGRAPHY Zhihua Qu received his Ph.D. degree in electrical engineering from the Georgia Institute of Technology in 1990. Since then, he has been with the University of Central Florida. Currently, he is a Professor in the Department of Electrical and Computer Engineering. He was the Director/Chair of Electrical Engineering from 1999 to 2003. His main research interests are nonlinear systems, robust and adaptive control designs, and robotics. He has published a number of papers in these areas and is the author of two books, Robust Control of Nonlinear Uncertain Systems by Wiley Interscience and Robust Tracking Control of Robotic Manipulators by IEEE Press. He is presently serving as an Associate Editor for Automatica and for International Journal of Robotics and Automation. He is a senior member of IEEE.