Murray Wiki - User contributions [en]

Nok Wongpiromsarn, May 2024

2024-05-19T17:35:12Z

Ncsomays:

Nok Wongpiromsarn, an Assistant Professor at Iowa State, will visit Caltech on 20-21 May 2024.

20 May 2024
* 9:15a: Richard, 109 Steele Lab
* 10:00a: Apurva
* 10:45a: Open
* 11:15a: Noel Csomay-Shanklin (2nd floor Annenberg Lounge)
* 12p-1p: Lunch with Richard
* 1:00p: Ioannis Mandralis (CAST meeting room)
* 2:00p: Open
* 3:00p: Soon-Jo Chung (235 Guggenheim)
* 4:00p: Joel Burdick (245 Gates-Thomas)
* ~6 pm: dinner with Richard

21 May 2024
* 9:15a: Open
* 9:45a: Open
* 10:30a: Josefine Graebener (2nd floor Annenberg Lounge)
* 11:15a: Aaron Ames (266 Gates-Thomas)
* 12-1p: Lunch
* 1-3 pm: Apurva Badithela thesis defense
* 3:00 pm: Eric Mazumdar (meet at defense)
* 3:45 pm: Scott Livingston (location TBD)
* 4:30 pm: Open
* 5:00 pm: Richard, 109 Steele Lab

Nok Wongpiromsarn, May 2024

2024-05-15T18:21:06Z

Ncsomays:

Nok Wongpiromsarn, an Assistant Professor at Iowa State, will visit Caltech on 20-21 May 2024.

20 May 2024
* 9:15a: Richard, 109 Steele Lab
* 10:00a: Apurva
* 10:45a: Open
* 11:30a: Noel Csomay-Shanklin (2nd floor Annenberg Lounge)
* 12p-1:15p: Lunch
* 1:15p: Open
* 2:00p: Open
* 3:00p: Soon-Jo Chung (235 Guggenheim)
* 4:00p: Joel Burdick (245 Gates-Thomas)
* ~6 pm: dinner with Richard

21 May 2024
* 10:15a: Open
* 10:30a: Open
* 11:15a: Aaron Ames (266 Gates-Thomas)
* 12-1p: Lunch
* 1-3 pm: Apurva Badithela thesis defense
* 3:00 pm: Eric Mazumdar (meet at defense)
* 3:45 pm: Open
* 4:30 pm: Open
* 5:00 pm: Richard, 109 Steele Lab

Nok Wongpiromsarn, May 2024

2024-05-15T17:52:37Z

Ncsomays:

Nok Wongpiromsarn, an Assistant Professor at Iowa State, will visit Caltech on 20-21 May 2024.

20 May 2024
* 9:15a: Richard, 109 Steele Lab
* 10:00a: Apurva
* 10:45a: Open
* 11:30a: Noel
* 12p-1:15p: Lunch
* 1:15p: Open
* 2:00p: Open
* 3:00p: Soon-Jo Chung (235 Guggenheim)
* 4:00p: Joel Burdick (245 Gates-Thomas)
* ~6 pm: dinner with Richard

21 May 2024
* 10:15a: Open
* 10:30a: Open
* 11:15a: Aaron Ames (266 Gates-Thomas)
* 12-1p: Lunch
* 1-3 pm: Apurva Badithela thesis defense
* 3:00 pm: Eric Mazumdar (meet at defense)
* 3:45 pm: Open
* 4:30 pm: Open
* 5:00 pm: Richard, 109 Steele Lab

Wen-Hua Chen, 4-21 Oct 2022

2022-10-03T01:44:21Z

Ncsomays: /* 4 Oct (Tue) */

Professor Wen-Hua Chen from the University of Loughborough will visit Caltech on 4-21 Oct 2022. A schedule for the first few days of his visit is given below. Please feel free to sign up for any open times.

{| border=1
|-
| align=top width=50% |
=== 4 Oct (Tue) ===
* 8:30 am: Richard Murray, 109 Steele Lab
* 9:00 am: Soon-Jo Chung, 235 Guggenheim (including lab tour (CAST & ARCL))
* 9:45 am: Diana Bohler (logistics)
* 10:30 am: Open
* 11:15 am: Apurva (meet outside Richard's office and walk over to Red door)
* 12:00 pm: Lunch with Richard
* 1:15 pm: Houman Owhadi, 201 Steele House
* 2:00 pm: Lijun Chen, 217 Annenberg
* 2:45 pm: Andrew Taylor, 325 Annenberg
* 3:30 pm: Noel Csomay-Shanklin, 325 Annenberg
* 4:15 pm: Open
* 5:00 pm: Done for the day

| align=top width=50% |

=== 5 Oct (Wed) ===

* 9:00 am: Ersin Das, Location: TBD
* 9:45 am: Open
* 10:30 am: Open
* 11:15 am: Prithvi Akella, (Place TBD)
* 12:00 pm: Lunch
* 1:30 pm: Anima Anandkumar, 316 Annenberg
* 2:15 pm: Josefine Graebener, Location TBD
* 3:00 pm: CDS Tea, Annenberg
* 3:45 pm: Seminar - 121 Annenberg
* 5:00 pm: Richard Murray, 109 Steele Lab
* 6:00 pm: Dinner with NCS group
|}

'''Stability of Optimisation-Based Control: Brief Review and New Results'''

Prof Wen-Hua Chen <br>
Department of Aeronautical and Automotive Engineering <br>
Loughborough University

With the increase of the size and the complexity of systems and their performance specifications, it is more difficult to find analytic solutions for a control system as in traditional approaches to give optimal performance. Model Predictive Control (MPC) provides a promising mechanism to realise numerical optimal solutions online to achieve best possible performance. However, establishing stability and other formal properties of this type of optimisation-based control imposes significant challenges. This talk starts with the brief overview of 30 years’ journey in developing stability theory for MPC. It points out that despite all the success, there is still a significant gap between available theoretic tools and practical applications. For example, a terminal cost that covers the optimal cost-to-go is, in general, required to add the cost function in order to ensure stability of a MPC algorithm, but most of MPC used in practical applications does not have a terminal cost (for example, all cases studies in Matlab Nonlinear MPC Toolbox do not have a terminal cost but work well). This talk presents a new approach and development in this area. The stability condition is entirely complementary to the existing terminal based MPC stability theory. Opposite to the existing MPC stability conditions, the new stability conditions cover the terminal cost being less than the optimal cost-to-go including zero terminal cost even negative. The new conditions are established based on a property of a modified stage cost. Numerical results are presented to illustrate the links and differences between the new approach and the existing stability theory. It is hoped that this work would trigger more research into understanding the interaction between optimisation and feedback loops in both the AI and the control community so ensure efficiency and safety of future robotics and autonomous systems.

Dr Wen-Hua Chen holds Professor in Autonomous Vehicles in the Department of Aeronautical and Automotive Engineering at Loughborough University, UK. Prof. Chen has a considerable experience in control, signal processing and artificial intelligence and their applications in aerospace, automotive and agriculture systems. In the last 15 years, he has been working on the development and application of unmanned aircraft system and intelligent vehicle technologies, spanning autopilots, situational awareness, decision making, verification, remote sensing for precision agriculture and environment monitoring. He is a Chartered Engineer, and a Fellow of IEEE, the Institution of Mechanical Engineers and the Institution of Engineering and Technology, UK. Recently Prof Chen was awarded an EPSRC (Engineering and Physical Science Research Council) Established Career Fellowship in developing control theory for next generation of control systems to enable high levels of automation such as robotics and autonomous systems.