Keynote 2: Dynamic control allocation (DCA): a perspective on past, current and future developments
The presence of overabundant control inputs, namely, more control inputs than regulated outputs, is a rather common feature in control systems, which is likely to appear more and more often in current and future applications. Actually, if redundant actuators have been classically adopted in safety or mission critical control tasks, the ongoing trend to develop multi-agent, distributed systems (e.g. in collaborative robotic manipulation or multi-drone patrolling, surveillance and rescue) naturally yields systems characterized by a large number of cooperating actuation units, which need suitable orchestration to achieve their overall goal.
The classic approach to deal with this phenomenon has been based on the goal of surviving “input redundancy”, by either “squaring down” the system (e.g. ignoring some inputs) or letting LQR/MPC take care of it through a monolithic, often opaque controller design. On the other hand, achieving high performance, robustness and flexibility in the mentioned novel applications calls for adaptable solutions which can be possibly retrofitted or combined with underlying “baseline” or “low level” controllers and reconfigured online in a transparent fashion.
This talk presents Dynamic Control Allocation (DCA) as a general plug-in architecture to effectively address the above issues, transforming the “problem” of input redundancy into a powerful “feature” of input richness, and the key to enhanced performance in advanced applications. The presentation will comment on some successful applications and will provide a (personal) perspective on the development of DCA, the key underlying ideas and structure and the main robustness and performance issues underlying current and future research.
University of Rome Tor Vergata, Italy
Sergio Galeani was born in Rome on May 26, 1973. He graduated in Computer Engineering in 1998 and received his PhD in Computer and Automation Engineering in 2002, both from the University of Rome, Tor Vergata, where he is currently an associate professor at the Department of Civil Engineering and Computer Engineering.
His main research interests include the periodic, multi-rate and robust control of linear systems in the presence of constraints, analysis and synthesis of nonlinear control systems, optimal control and the design of anti-windup compensators. His most recent work has focused on the development of novel dynamic control allocation strategies with advanced features in terms of dynamic optimization, robustness and data-driven design.
Dr. Galeani has published over 150 papers in peer reviewed journals and conference proceedings, and has served as a reviewer and associate editor in several committees; currently, he is an Associate Editor for the IEEE Transactions on Automatic Control and IEEE Transactions on Control Systems Technology, a member of the Conference Editorial Board of the IEEE Control Systems Society and Chair of the IFAC Technical Committee 2.1 (Control Design).