Navigating Safety in Autonomous Systems: The Power of Control Barrier Functions
| Dates: | 7 November 2023 |
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| Times: | 11:00 - 12:30 |
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| What is it: | Seminar |
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| Organiser: | Department of Electrical and Electronic Engineering |
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| Who is it for: | University staff, Current University students |
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| Speaker: | Nicola Marchese Andreu |
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Welcome to this EEE Control & Robotics seminar
With the rise of automation, ensuring security without immediate human intervention has become a crucial aspect of control algorithm design. Preventing robotic systems from reaching undesired configurations due to interaction with external objects or the presence of singularities in the control structure is the primary objective of security. As a solution to such issues, it is important to develop an algorithm that would allow the system to meet such requirements while not hindering the total performance of the system. The Control Barrier Functions (CBFs) arose as a solution to this issue. They aim to prevent a given plant from entering certain undesired states by comparing the current state of the system and the input coming in from the controller, altering the signal to be fed to the system to avoid the delimited set of configurations. In this presentation, the internal working and implementation of the CBF design will be discussed. The mathematical procedure will then be presented as applied to a robotic system with the presence of nonlinearities to exemplify the performance of the methodology.
Speaker
Nicola Marchese Andreu
Organisation: University of Manchester
Biography: Nicola Marchese received his MEng degree in Mechatronic Engineering from the University of Manchester, UK, in 2022. He is currently pursuing a PhD degree in Electrical and Electronic Engineering at the University of Manchester, UK. He's currently working together with the UKAEA in the field of Large-Scale Robotics control. His research interests include Adaptive control, Flexible robotics, and Control Barrier Functions.
Travel and Contact Information
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Engineering A_3A.004 M&T
Nancy Rothwell Building
Booth Street East
Manchester
