Modern Sliding Mode Control with Application to Connected and Automated Vehicles
Prof. Antonella Ferrara
University of Pavia, Italy
Sliding Mode Control is a nonlinear control methodology based on the use of a discontinuous control input which forces the controlled system to switch from one structure to another, evolving as a variable structure system. This structure variation makes the system state reach in a finite time a pre-specified subspace of the system state space where the desired dynamical properties are assigned to the controlled system. In the past years, an extensive literature has been devoted to the developments of Sliding Mode Control theory. This kind of methodology offers a number of benefits, the major of which is its robustness versus a significant class of uncertaintiesduring the sliding mode. Yet, it presents a crucial drawback, the so-called chattering, which may disrupt or damage the actuators and induce unacceptable vibrations throughout the controlled system. This limits the practical applicability of the methodology, especially in case of mechanical or electromechanical plants. This drawback has been faced by the theoretical developments of the last two decades. They will be reviewed in this talk, illustrating how the “modern” results can beprofitably used to solve practical control problems in complex systems as the automotive ones. The talk will develop starting from single vehicle control and coming to discuss formation control of fleets of connected and automated vehicles (CAVs), with the aim of producing a beneficial impact on road traffic..
Biography of Prof. Antonella Ferrara
Antonella Ferrara received the M.Sc. in Electronic Engineering (cum Laude) in 1987 and the Ph.D. in Computer Science and Electronics in 1992 from the University of Genova. After being a Faculty Member at the University of Genova (1992-1998) shejoined the University of Pavia in 1998 as an Associate Professor. Since January 2005 she has been Full Professor of Automatic Control in the Department of Electrical, Computer and Biomedical Engineering (ECBE) of the same university. She teaches "Process Control and Robotics" and "Advanced Automation and Control". She was Visiting Professor at Graz University of Technology, and Invited Lecturer at Harvard University, University of Minnesota, University of California at Los Angeles (UCLA), University of Stuttgart, Technical University of Delft, INRIA Grenoble, King Abdullah University of Science and Technology (KAUST), Jeddah, Hanyang University, Seoul, and Universidade Federal do Rio de Janeiro, Brazil. Her research activities are mainly in the area of automatic control of complex systems, with application to automotive systems, robotics, power networks and vehicular traffic. She is particularly interested in autonomous driving and coordinated control of vehicles. She was coordinator of the Italian research team in the European Projects ITEAM (Interdisciplinary Training Network in Multi-Actuated Ground Vehicles, Marie Skłodowska-Curie Action, 2016-2019). She was scientific leader of several research projects funded or co-funded by companies. She has authored or co-authored more than 380 scientific papers, with 125 international journal papers and 3 books. Moreover, she contributed, with invited chapters, to several edited books. She was Associate Editor of the IEEE Transactions on Control Systems Technology, IEEE Transactions on Automatic Control and IEEE Control Systems Magazine.She is currently Associate Editor of Automatica and IEEE Transactions on Intelligent Vehicles, as well asSubject Editor of the International Journal of Robust and Nonlinear Control. She wasappointed and elected member of the Board of Governors of the IEEE Control Systems Society (2012; 2016-2018), and member of the European Control Association (EUCA) Council (2015-2019). She is Chair of the EUCA Conference Editorial Board and Series Editor of the book series "Advances in Industrial Control" published by Springer.
Privacy and safety in cyber-physical systems
Prof. Dimitri Lefebvre
University of Le Havre Normandie, France
In recent years, the tremendous growth of computer technology has led to the proliferation of highly complex cyber-physical systems, in particular in Industry 4.0 and Internet of Things. Such systems exhibit behaviors determined by the asynchronous occurrence of certain events and are termed Discrete Event Systems(DES). Examples of DES are encountered in many traditional application domains, such asautomated manufacturing, computer networks, transportation, as well as inemerging areas like healthcare, or management of technical, human and financial resources.
A significant research effort has been devoted to DES in order to address a series of difficult problems that are often combinatorial in nature, and require advances methodologies The aim of this talk is first to give some basic modeling notions to represent DES in order to address a large variety of problems for cyber-physical systems. Then, some privacy,and safety issues arediscussed.On one hand, opacity is presented to increase privacy and cyber-security. On the other hand, fault diagnosis illustrates how it is possible to detect and isolate some faults in the system based on its observations. Performance evaluation is introduced to provide a detailed analysis of such properties.
Finally, a list of open questions and future challenges is proposed.
Biography of Prof. Dimitri Lefebvre
Dimitri Lefebvre received the S.B. in Science and Engineering in 1990, the M.Eng. degree in Automatic Control and Computer Science in 1992, and the Ph.D. degree Automatic Control and Computer Science in 1994, all from University of Sciences and Technologies and Ecole Centrale in Lille, France. In 1995, he joined the University of FrancheComté, Belfort, France, where he served as Associate Professor with the Department of Electrical Engineering and the Research Group about Systems and Transportations. Since 2001, he has been with University Le HavreNormandie, France as Professor. He is currently with the Research Group on Electrical Engineering and Automatic Control (GREAH) in Le Havre and was from 2007 to 2012 the head of the group. His current research interests include fault diagnosis and control designfor dynamic systems, discrete event systems, learning processes and artificial intelligence, with applications to network security and safety in the domains ofelectrical engineering, robotics, transportations and logistics. He is the authors of more than 100 articles published in indexed journals and more than 200 communications in international conferences.