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U of M College of Engineering Control Seminar Series Sponsored by Ford Motor Company, General Motors, and Whirlpool |
Switched Linear Systems:
Observers and Observability
Professor Magnus Egerstedt
Electrical and Computer Engineering
Georgia Institute of Technology
Atlanta, GA 30332
In a number of applications where
the state of the system must be determined in the presence of intermittent
sensor and actuator failures or lossy communication channels, a general theory
of observability for switched systems is needed. In this talk we will address
this issue by characterizing observability of switched linear systems from both
an algebraic as well as a computational complexity point-of-view. In
particular, it will be shown that so-called pathwise observability is a
decidable property. This fact will moreover enable us to design convergent
asymptotic Newton observers for systems with arbitrarily switching measurement
equations as well as extend the Kalman-Bertram sample criterion to switched
systems.
Biographical Information:
Magnus B. Egerstedt is an
assistant professor in the School of Electrical and
Computer Engineering at the
Georgia Institute of Technology. He received the M.S. degree in Engineering Physics and the Ph.D. degree in
Applied Mathematics from the Royal Institute of Technology, Stockholm, Sweden,
in 1996 and 2000 respectively. He also received a B.A. degree in Philosophy
from Stockholm University in 1996. He spent 2000-2001 as a Postdoctoral Fellow
at the Division of Engineering and Applied Science at Harvard University. Dr.
Egerstedt's research interests include optimal control as well as modeling and
analysis of hybrid and discrete event systems, with emphasis on motion planning
and control of mobile robots. He has authored over 75 conference and journal
publications in the areas of robotics and control, and he received the CAREER
award from the National Science Foundation in 2003.
3:30 – 4:30 p.m.