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SUMMARY:Robust Model Predictive Control with Waysets - Rohan Shekhar\, Uni
 versity of Melbourne
DTSTART:20140708T130000Z
DTEND:20140708T140000Z
UID:TALK53294@talks.cam.ac.uk
CONTACT:Tim Hughes
DESCRIPTION:Waypoint guidance is a well-known technique for reducing the c
 omputational complexity of large control problems\, especially those perta
 ining to vehicle trajectory planning.  However\, it suffers from the inabi
 lity to provide robustness guarantees in the presence of persistent distur
 bances.  This talk will introduce the notion of waysets as a generalisatio
 n of waypoints\, allowing robustness issues to be addressed.  It will be s
 hown how model predictive control\, combined with wayset guidance and cons
 traint tightening\, can robustly steer the state of a system in the presen
 ce of bounded disturbances\, whilst significantly reducing computational c
 omplexity when compared to existing approaches.  A simple UAV model with n
 on-convex minimum speed and collision avoidance constraints will be used t
 o demonstrate the technique\, as well as motivate other potential applicat
 ions of the developed theory.
LOCATION: Cambridge University Engineering Department\, LR12
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