modelling and control of complex dynamical systems · modelling and control of complex . dynamical...

LARLAR--DEIS DEIS UniversitUniversityy ofof BolognaBologna

22ndnd EURON/GEOPLEXEURON/GEOPLEX

Summer School onSummer School on

Modelling and Control of Complex Modelling and Control of Complex Dynamical SystemsDynamical SystemsBertinoroBertinoro (I), (I), 1818--22 July 200522 July 2005

Residential Center of the University of BolognaResidential Center of the University of Bolognahttp://http://www.centrocongressibertinoro.itwww.centrocongressibertinoro.it//

LARLAR--DEIS University of BolognaDEIS University of Bologna

Summer SchoolSummer School

Sponsoring institutions:Sponsoring institutions:

EURONThe European Robotics Network, funding and encouraging a number of important activities in Europe related to robotics.Coordinator: Henrik I. Christensen, KTH, SwedenURL: http://www.euron.org

GEOPLEXAn European Research Network on “Geometric Network Modeling and Control of Complex Physical Systems”.Coordinator: Stefano Stramigioli, UTwente, NetherlandsURL: http://www.geoplex.cc

UNIVERSITY OF BOLOGNAThrough its “International Summer Schools” program.URL: http://www.unibo.it

http://www.geoplex.cc/


BertinoroBertinoro –– Univ. of Bologna Univ. of Bologna Residential CenterResidential Center

Bertinoro

University of Bologna


BertinoroBertinoro –– Univ. of Bologna Univ. of Bologna Residential CenterResidential Center


General InformationGeneral Information

Internet available everywhere (wireless and cable)

Half-Board accomodation:• Breakfast• Lunch

School material:• Electronic version: http://www-lar.deis.unibo.it/euron-geoplex-sumsch/

• 20-sim CD

Teaching activity: herehere

Practical work: PC PC –– room (room (RoccaRocca))


Summer School 2005Summer School 2005

38 Participants:• 13 Italy• 6 Germany• 4 The Netherlands• 3 Sweden• 2 Estonia• 2 Korea• 2 Spain• 2 UK• 1 Cyprus, France, Japan, Switzerland

10 Instructors:BatlleBatlle CarlesCarles (E)(E) MacchelliMacchelli Alessandro (I) Alessandro (I) BulloBullo Francesco (USA)Francesco (USA) MaschkeMaschke Bernhard (F)Bernhard (F)BreedveldBreedveld Peter (NL)Peter (NL) Melchiorri Claudio (I) Melchiorri Claudio (I) BruyninckxBruyninckx Herman (B)Herman (B) SchlacherSchlacher Kurt (A)Kurt (A)Klein Christian (NL)Klein Christian (NL) StramigioliStramigioli Stefano (NL)Stefano (NL)



General Schedule of the School• 8:30 - 12:30 lessons• 12:30 - 14:00 lunch• 14:00 - 18:00 lessons

Students’ presentations• 8:30 - 11:30 Monday 18th

Sunday, July 17th, 2005• 18:00 Welcome Cocktail

Thursday, July 21th, 2005• 20:00 Social Dinner (Restaurant TBC…)

Friday, July 22th, 2005• 18:00 Farewell Cocktail



Students’ presentations (17):8:30 - 11:30:

1 Aoki Yohko2 Castillo Cruces3 Ceccarelli Nicola4 Correll Nikolaus5 Duindam Vincent6 Ghosh Siddharta7 Hultgren Andreas8 Listak Madis9 Montagner Alberto10 Muller Andreas 11 Naldi Roberto12 Ng Pak Nicola13 Palli Gianluca14 Sogo Takuya15 Sorbara Andrea16 Staffetti Ernesto17 Manni Andrea


Instructors of the SchoolInstructors of the SchoolStefano Stramigioli was born in Bologna, Italy, on the 28th of March 1968. He got the Laurea degree cum laude in Electrical Engineering at the University of Bologna in 1992. In 1992 he moved to the Netherlands where he has been working at the Control Laboratory of the Department of Electrical Engineering of the University of Twente. In 1994 he started working at the Control Laboratory of the former faculty of Electrical Engineering at the Delft University of Technology as a Ph.D student. In 1996 he was at the MassachussetsInstitute of Technology as a visiting scholar at the Newman Laboratory of Prof. Neville Hogan. In 1996 he received the D.I.S.C. certificate. In 1998 he received the Ph.D. cum laude at the Delft University of Technology. In 1998 he was appointed as an assistant professor at the Delft University of Technology where he was promoted in 2000 to associate. Since June 2001 he is working as associate professor at the DrebbelInstitute of Mechatronics of the University of Twente. His main interests lie in the geometrical approach to physical systems and control and in particular robotics. He is author of Modeling and IPC Control of Interactive Mechanical Systems, Springer 2001, and coordinator of the European sponsored project GeoPlex (http://www.geoplex.cc).

Francesco Bullo received the Laurea degree summa cum laude in Electrical Engineering from the University of Padova, Italy, in 1994, and the Ph.D. degree in Control and Dynamical Systems from the California Institute of Technology in 1999. From 1998 to 2004, he was an Assistant Professor with the Coordinated Science Laboratory at the University of Illinois at Urbana-Champaign. He is currently an Associate Professor with the Mechanical & Environmental Engineering Department at the University of California, Santa Barbara. His research interests include motion planning and coordination for autonomous vehicles, geometric control of mechanical systems, and distributed and adaptive algorithms. He is a recipient of the 2003 ONR Young Investigator Award. He is the coauthor (with Andrew D. Lewis) of the book Geometric Control of Mechanical Systems (New York: Springer Verlag, 2004, 0-387-22195-6). He has published more than 70 papers on international journals, books, and refereed conferences. He serves on the Editorial Board of the IEEE Transactions on Automatic Control, SIAM Journal of Control and Optimization and ESAIM: Control, Optimization, and the Calculus of Variations. He also serves as Chairman of the IEEE Control Systems Society Technical Committee on Manufacturing, Automation, and Robotics Control (MARC).


Instructors of the SchoolInstructors of the School

Bernhard Maschke was graduated as engineer in telecommunication at the Ecole Nationale Supérieure des Télécommunications (Paris, France) in 1984. He received in 1990 his Ph. D. degree on the control of robots with flexible links and in 1998 the Habilitation to Direct Researches both from the University of Paris- Sud (Orsay, France). From 1986 until 1990 he prepared his Ph. D. on the control of robots wth flexible links at the Department of Advanced Robotics of the Commissariat à l'énergie Atomique. From 1990 until 2000 he has been associate professor at the Laboratory of Industrial Automation of the Conservatoire National des Arts et Métiers(Paris, France) and since 2000 he is professor in automatic control at the Laboratory of Control and Chemical Engineering of the University Claude Bernard of Lyon (Villeurbanne, France). In 1996 he has spend a six month sabbatical with the group on "Differential geometry, dynamical systems and applications" (Prof. Ch.- M. Marle) of the Mathematical Institute of Jussieu of the University Pierre et Marie Curie (Paris, France). In 1990 he has spend six months, respectively in 1998- 2000 eighteen months, at the University of Twente (Enschede, The Netherlands) with the Control Laboratory (Prof. P. C. Breedveld and Prof. J. van Amerongen) and with the Department of Systems, Signals and Control (lien hypertexte) (Prof. A. J. van der Schaft). His research interests include the network modeling of physical systems using bond graphs, multibody systems, electro-mechanical systems and physico-chemical processes, Hamiltonian systems, irreversible thermodynamics, passivity-based control and control by interconnection, modeling and control of distributed parameter systems. He is coauthor of the book Dissipative Systems Analysis and Control, Communication and Control Engineering Series, Springer, 2000.

Herman Bruyninckx (1962) has obtained the degrees of Licentiate in Mathematics, Master of Engineering in Computer Science, Postgraduate Degree in Mechatronics Engineering, and the Doctoral Degree in Applies Sciences (1995), all from K.U.Leuven. His research focuses on: intelligent force-controlled robots using Bayesian probability theory; robot control software engineering, with the emphasis on open source software; and the differential geometry behind robotics and estimation. He has been visiting research associate at the University of Pennsylvania, Philadelphia, U.S.A., and Stanford University, U.S.A. He teaches the courses on Robotics, and Processors and Software for Real-Time and Embedded Systems.


Instructors of the SchoolInstructors of the SchoolPeter Breedveld is an associate professor with tenure at the University of Twente, Netherlands, where he received a B.Sc. in 1976, an M.Sc. in 1979 and a Ph.D. in 1984. He has been a visiting professor at the University of Texas at Austin in 1985 and at the Massachusetts Institute of Technology in 1992-1993. He is or has been an industrial consultant. He initiated the development of the modeling and simulation tool that is now commercially available under the name 20-sim. In 1990 he received a Ford Research grant for his work in the area of physical system modeling and the design of computer aids for this purpose. He is an associate editor of the 'Journal of the Franklin Institute', SCS 'Simulation' and 'Mathematical and Computer Modeling of Dynamical Systems'. His scientific interests are: Integrated modeling, control and design of physical systems; graphical model representations (bond graphs); generalized thermodynamics; computer-aided modeling, simulation, analysis and design; dynamics of spatial mechanisms; mechatronics; generalized networks; numerical methods; applied fluid mechanics; applied electromagnetism; qualitative physics; surface acoustic waves in piezo-electric sensors and actuators.

Carles Batlle Arnau graduated in Physics in 1984. He obtained the Ph. D. degree in Theoretical Physics in 1988; both from the Universitat de Barcelona. He is associate professor in Applied Mathematics at the Universitat Politecnica de Catalunya, Barcelona (Spain). His expertise is in the field of theoretical mechanics, with applications to control theory, and in the analysis and simulation of piecewise-linear dynamical systems, with concrete applications to DC-DC converters. He is interested in the nonlinear phenomena associated to these systems, like bifurcations and chaotic behaviour, and in its control. He is the author/coauthor of more than 20 papers in relevant journals, and more than 20 communications in international congresses and workshops. He is also a co-author of a book on Nonlinear Dynamics in Power Electronics.



Alessandro Macchelli got his Laurea Degree in Electrical Engineering from the University of Bologna in 2000 and the PhD. in 2003 in the program of ``Automatic Control and Operational Research'' under the supervision of Prof. C. Melchiorri. Currently, he is research associate at DEIS, University of Bologna. He has been visiting scholar in 2001 and PostDoc in 2003 at the University of Twente, cooperating with Prof. A. van der Schaft and Prof. S. Stramigioli. His research interests are: non linear control, passivity, Hamiltonian systems, Hw/Swarchitectures for real-time control.

Claudio Melchiorri received the Laurea degree in Electrical Engineering in 1985, and the Ph.D. in 1990 both at the University of Bologna. He has been appointed as ``Adjunct Associate in Engineering'' at the Department of Electrical Engineering, University of Florida, Gainesville, FL, in 1988 and as ``Visiting Scientist'' at the Artificial Intelligence Laboratory, MIT, Cambridge, MA, USA, for periods in 1990 and 1991. Since 1985 he has been with DEIS, the Department of Electrical Engineering, Computer Science and Systems of the University of Bologna, working in researches in the field of robotics and automatic control. He currently holds the position of Full Professor in Robotics at the University of Bologna. He is author or coauthor of about 150 scientific papers presented at conferences or published in journals, of 2 books on digital control, and is coeditor of 3 books on robotics. He is Co-Editor in Chief of the IFAC Journal on Mechatronics. His research interests include dexterous robotic manipulation, haptic interfaces, tele-manipulation systems, advanced sensors, nonlinear control.



Kurt Schlacher was born in Graz, Austria, on the 16th of August in the year 1955. 1973 he started to studyelectrical engineering at the Technical University of Graz, and finished 1979 with the diploma degree cum laude. In the year 1990 he did his obligatory national service. In the year 1981 he joined the department of automaticcontrol at the Technical University of Graz, where he received his Ph.D. cum laude in the year 1984 and hishabilitation for automatic control in the year 1990. In 1992 he moved to Linz at the Johannes Kepler University, Austria, where he got the position of a full professor for Automatic Control that he holds presently. Apart fromseveral academic positions, he serves as an Associate Editor of the IEEE Transactions on Control SystemsTechnology. He is also member of the scientific committees of the following journals: IFAC International Journal of Automation Austria, Automatisierungstechnik (Oldenbourg-Verlag, Germany), as well as member of the IFAC Technical Committees on Control Design and Mechatronics. Furthermore, he is head of the Christian DopplerLaboratory for Automatic Control of Mechatronic Systems in Steel Industries. His main interests are modellingand control of nonlinear systems with respect to industrial applications applying differential geometric and computer algebra based methods. He is author of more than 80 publications published in national and international proceedings and journals, as well as co-author of the book Digitale Regelkreise (Oldenbourg-Verlag) together with Prof. Hofer and Prof. Gausch.


Summer SchoolSummer School

And now…. Let’s start !!


Program of the SchoolProgram of the SchoolGeneral Topics

In robotics, and more in general in the domain of electro-mechanical systems, it is rather clear the importance of the notion of "open system", i.e. a device that may be generically described as a system with a direct “physical” interface with its environment. Common examples are devices for advanced manipulation (dextrous hands), tele-manipulation and haptic systems, cooperating robots, legged robots, and so on. Other examples of “controlled systems” interacting with “environments” can be easily found in similar domains, such as electric drives or general mechanical systems.

On the other hand, the notion of "open system" naturally arises also in other domains, where an “interaction” among physical systems is present, domains which may seem very different from the electro-mechanical one (chemical, thermodynamics, …).

It turns out that elegant and general mathematical tools for modelling and controlling “interacting physical” systems (also coming from different domains) exist, and that their use can be very helpful in solving complex problems (e.g. in robotics), where other approaches may lead to more heuristic or confuse solutions.


Program of the SchoolProgram of the SchoolGeneral Topics

These methodological tools are framed in the Hamiltonian formalism. In particular, in order to describe and to manipulate these dynamical models in a systematic way, it is convenient to use a coordinate-free, geometric framework for their mathematical formulation, especially because of the intrinsic and strong nonlinearities in their system behaviour. The framework of port-Hamiltonian systems, where the physical components are formulated as generalized Hamiltonian systems coupled to each other through power ports, will be presented in the Summer School by leading researchers. In this context, the resulting complex physical system can be geometrically described as a Hamiltonian system with respect to the geometric object of a Dirac structure.

Special CACSD tools (20-sim) as well as several case studies, taken from different engineering fields (robotics, electric drives, chemical processes, ...) will be presented and discussed.

In summary, main goal of the Summer School is to present methods, techniques and tools for modelling and control complex interacting dynamical systems, using an integrated system approach allowing to deal with physical components stemming from robotics and also from different physical domains (electrical, mechanical, thermodynamic, ..), both in the lumped-parameter and in the distributed-parameter case.

modelling and control of complex dynamical systems · modelling and control of complex . dynamical...

Documents