Title: (1) A Dual-Rate Hierarchical MPC Framework for Fault-Tolerant Control

           (2)  Discussions on Academic Paper Writing With Graduate Students

Speaker: Yang Shi, Professor, Fellow of CAE, EIC, IEEE, ASME, CSME

                   University of Victoria, Canada (加拿大工程院院士, 加拿大工程研究院院士)

报告时间：2023年12月12日周二 13:00（北京时间）

线上腾讯会议：610 169 627

报告地点：动感之星小站妖精热舞C317

邀 请 人：丁锋、刘艳君、张霄

Abstract (1): In the field of quadrotor control, there is a growing recognition of the need for achieving constraint satisfaction and optimal performance simultaneously. While model predictive control (MPC) is a promising approach, its sensitivity to model uncertainties and large computational demands pose challenges for its application in quadrotor systems requiring rapid update rates, particularly those with potential actuator failures. This talk will introduce an efficient solution: a dual-rate hierarchical adaptive Lyapunov-based MPC framework, designed for trajectory tracking control of quadrotors with unknown actuator faults. The dual-rate dual-loop architecture effectively reduces the computational burden without sacrificing control accuracy by sampling the outer-loop at a slower rate than the inner-loop, making it more practical for real-world applications. Additionally, the incorporated adaptive mechanism enables the quadrotor to compensate for unexpected actuator faults, ensuring stability and precise trajectory tracking.

(2) Introduce scientific paper writing skills and make discussions with Master and Ph. D students and young teachers about how to write responses to Reviews, etc.