CCDC 2020
23-25 May

Distinguished Lectures

Dynamic optimization and control of nonlinear systems.

Prof. Jun Fu

Northeastern University, China


This talk first presents a novel dynamic optimization algorithm based on the technique of the restriction of the right-hand side, which can guarantee that the path constraint is rigorously satisfied over the entire continuous time horizon within finite iterations. Then it introduces several switching methods for switched dynamic systems, which are finite-time stabilization of switched p-normal systems, periodical sampled-data control and event-triggered sampled-data control of switched time-delay systems. By exploiting the structural information of the systems, it then reports several new constructive methods for nonholonomic mechanical systems, MIMO nonlinear systems with time-delay and deadzone nonlinearities, and nonlinear systems with time-varying or jumping parameters. Finally, this presentation outlooks the future work on optimal control of switched systems, closed-loop dynamic optimization, and hybrid intelligence optimization.


Jun Fu received the Ph.D. degree in mechanical engineering from Concordia University, Montreal, Quebec, Canada, in 2009. He is a postdoctoral researcher in the department of mechanical engineering, Massachusetts Institute of Technology (MIT), USA from 2010 to 2014. He is a full professor at Northeastern University, China. His current research is on dynamic optimization, switched systems, and constructive control. He has authored/co-authored over 80 publications which appeared in journals, conference proceedings and book chapters. He is a winner of China National Funds for Distinguished Young Scientists (NSFC), and also a Changjiang Scholar Chair professor. He won the 2018 Young Scientist Award in Science from MOE, China. He is Associate Editors of IEEE Trans. Industrial Informatics, IEEE Transactions on Systems, man, and Cybernetics: Systems, IEEE Transactions on Neural Networks and Learning Systems, Control Engineering Practice (IFAC), and Journal of Industrial and Management Optimization.

Multiactuation Schemes and Information Constraints for Vibration Control of Large-Scale Systems.

Prof. Hamid Reza Karimi

Politecnico di Milano, Italy


Vibration is a phenomenon that affects system performances such as robot manipulators, bridges, buildings, towers, vehicles and aircrafts. The protection of these large-scale systems against the harmful effects of vibration has become a major field of research in recent years. In the literature of vibration control of mechanical, electrical or hydraulical systems, different damping systems, mainly passive, active and semi-active damping systems or, recently, inerter devices, have been proposed and successfully applied to tackle the vibration problem. One critical characteristic common to most of these actuators is that they, in general, exhibit nonlinear dynamics and thus complex control techniques must be employed for an appropriate performance. The main objective of this talk is to present some challenges and recent results on distributed or decentralized passive and active vibrational control schemes with a focus on simplicity, reliability, applicability and robustness of controller developments under information constraints and multiactuation schemes. In particular, to enhance the system protection, some innovative devices for the purpose of vibration mitigation in buildings through efficient control techniques will be analyzed and an integration of actuator devices with different concepts of large structural systems will be analyzed separately. The talk will be concluded with some advices on both technical and practical aspects of vibration control systems using innovative actuation devices.


Hamid Reza Karimi received the B.Sc. (First Hons.) degree in power systems from the Sharif University of Technology, Tehran, Iran, in 1998, and the M.Sc. and Ph.D. (First Hons.) degrees in control systems engineering from the University of Tehran, Tehran, in 2001 and 2005, respectively. From 2009 to 2016 he was a full professor of Mechatronics and Control Systems at University of Agder in Norway. Since 2016, he has been a professor of Applied Mechanics with the Department of Mechanical Engineering, Politecnico di Milano, Milan, Italy. His current research interests include robust control systems, vibration control, fault diagnosis and health monitoring for industrial applications.

Prof. Karimi is currently the Editor-in-Chief of the Journal of Cyber-Physical Systems, Editor-in-Chief of the Journal of Machines, Editor-in-Chief of the International Journal of Aerospace System Science and Engineering, Editor-in-Chief of the Journal of Designs, Section Editor-in-Chief of the Journal of Electronics, Section Editor-in-Chief of the Journal of Science Progress, Subject Editor for Journal of The Franklin Institute and a Technical Editor, Moderator for IEEE TechRxiv or Associate Editor for some international journals, such as the IEEE Transactions on Fuzzy Systems, the IEEE Transactions on Neural Networks and Learning Systems, the IEEE Transactions on Circuits and Systems-I: Regular Papers, the IEEE/ASME Transactions on Mechatronics, the IEEE Transactions on Systems, Man and Cybernetics: Systems, for instance. He is a member of Agder Academy of Science and Letters and also a member of the IEEE Technical Committee on Systems with Uncertainty, the Committee on Industrial Cyber-Physical Systems, the IFAC Technical Committee on Mechatronic Systems, the Committee on Robust Control, and the Committee on Automotive Control. Prof. Karimi awarded as the 2016-2019 Web of Science Highly Cited Researcher in Engineering.

Gradient-Free Distributed Optimization Methods for a Multi-Agent System with Unknown Cost Function.

Prof. Guoqiang Hu

Nanyang Technological University, Singapore


This talk will present a randomized gradient-free distributed optimization algorithm to solve a multi-agent optimization problem with set constraints. Random gradient-free oracle instead of the true gradient information is built locally such that the estimated gradient information is utilized in guiding the update of decision variables. Thus, the algorithm requires no explicit expressions but only local measurements of the cost functions. The row-stochastic and column-stochastic matrices are used as the weighting matrices during the communication with neighbors, making the algorithm convenient to implement in directed graphs as compared with the doubly-stochastic weighting matrix. Without the true gradient information, we establish asymptotic convergence to the approximated optimal solution, where the optimality gap can be set arbitrarily small. Moreover, the proposed algorithm achieves the same rate of convergence O(ln t/sqrt(t)) as the state-of-the-art gradient-based methods with similar settings, but having the advantages of less required information and more practical communication topologies.


Guoqiang Hu joined the School of Electrical and Electronic Engineering at Nanyang Technological University, Singapore in 2011, and is currently a tenured Associate Professor and the Director of the Centre for System Intelligence and Efficiency. He received the B.Eng. degree in Automation from the University of Science and Technology of China, the M.Phil. degree in Automation and Computer-Aided Engineering from the Chinese University of Hong Kong, and the Ph.D. degree in Mechanical Engineering from the University of Florida. He works on distributed control, distributed optimization and game theory, with applications to multi-robot systems and smart city systems. He has published over 80 journal papers including 57 IEEE Transactions papers and 10 Automatica papers. He was a recipient of the Best Paper in Automation Award in the 14th IEEE International Conference on Information and Automation in 2017, a recipient of the Best Paper Award (Guan Zhao-Zhi Award) in the 36th Chinese Control Conference in 2017, and a recipient of the Early Career Teaching Excellence Award at Nanyang Technological University, Singapore, in 2015. He serves/served as Associate Editor for IEEE Transactions on Automatic Control, IEEE Transactions on Control Systems Technology, and IEEE Transactions on Automation Science and Engineering, Subject Editor for International Journal of Robust and Nonlinear Control, and Technical Editor for IEEE/ASME Transactions on Mechatronics.

Interesting Problems in Estimation and Control on Smart Road Vehicles.

Prof. Rajesh Rajamani

University of Minnesota, USA


A number of exciting vehicle automation and active safety systems are being developed by research groups around the world. This talk focuses on novel sensors, estimation algorithms and control systems that can fill critical gaps in the automation technologies under development. The first part of the seminar describes the development of a smart bicycle with novel sensors to track trajectories of nearby vehicles on the road, and instrumentation to provide warnings to the motorist if a potential car-bicycle collision is detected. Significant challenges from sensor cost and size constraints for a bicycle, and from the need to track vehicles in highly complex urban road traffic are discussed. Experimental results and videos of the smart bicycle system’s performance are presented. The second part of the seminar discusses interesting observer design problems for nonlinear systems, including unknown input estimation, parameter estimation and a new combined high-gain-LMI method of observer design. The applications of these estimation algorithms for predicting and preventing tripped rollovers, and for a novel magnetic sensor based detection of imminent unavoidable car crashes are discussed. The final part of the seminar describes the development of a new class of narrow commuter vehicles designed to address traffic congestion, improve highway mobility and provide high fuel economy. Results from a prototype narrow vehicle developed at the University of Minnesota with embedded estimation algorithms and estimation-based automatic tilt control are presented.


Rajesh Rajamani obtained his M.S. and Ph.D. degrees from the University of California at Berkeley and his B.Tech degree from the Indian Institute of Technology at Madras. He joined the faculty in Mechanical Engineering at the University of Minnesota in 1998 where he is currently the Benjamin Y.H. Liu-TSI Endowed Chair Professor. His active research interests include sensing and estimation for autonomous vehicles and other smart systems.

Dr. Rajamani has co-authored over 140 journal papers and is a co-inventor on 13 patents/ patent applications. He is the author of the popular book “Vehicle Dynamics and Control” published by Springer Verlag. Dr. Rajamani is a Fellow of ASME and has been a recipient of the CAREER award from the National Science Foundation, the 2001 Outstanding Paper award from the journal IEEE Transactions on Control Systems Technology, the Ralph Teetor Award from SAE, and the 2007 O. Hugo Schuck Award from the American Automatic Control Council.

Several inventions from his laboratory have been commercialized through start-up ventures co-founded by industry executives. One of these companies, Innotronics, was recently recognized among the 35 Best University Start-Ups of 2016 in a competition conducted by the US National Council of Entrepreneurial Tech Transfer.

About Cyber Security in Discrete-Event Dynamic Systems: from Modelling and Analysis of Smart Attacks to Attack-Resilient Supervisory Control.

Prof. Rong Su

Nanyang Technological University, Singapore


Considering the diversity of cyber attacks on discrete-event systems, in this talk I will focus on a special type called “smart attacks”, which, if exist, will not be detected by the supervisor until an unstoppable process with ensured damages takes place. An attack may be carried out in either an observation channel, or a command channel, or both simultaneously. After introd ucing some models of observation and command channel attacks, I will describe, from an attacker’s point of view, how to synthesise a smart attack strategy. Sufficient and necessary conditions will be given to ensure the existence of such a strategy. It turns out that the synthesis of an attack-resilient supervisor is more challenging, owing to not only high synthesis complexities, but also the unknown decidability nature of existence of such a supervisor in a general setup. Nevertheless, for a special observation-channel attack, where an attacker does not aim for assured damages, but rather some possibility of damages, captured by the concept of weak attackability, the existence of a resilient supervisor is decidable.


Dr Su Rong obtained his Bachelor of Engineering degree from University of Science and Technology of China in 1997, and Master of Applied Science degree and PhD degree from University of Toronto in 2000 and 2004, respectively. He was affiliated with University of Waterloo in Canada and Eindhoven University of Technology in the Netherlands before he joined Nanyang Technological University in 2010. Currently, he is an associate professor in School of Electrical and Electronic Engineering. Dr Su's research interests cover areas of discrete-event system theory, including (networked) supervisory control, cyber security analysis and model-based fault diagnosis, consensus control of multi-agent systems, and real-time optimisation in complex networked systems with applications in smart manufacturing, intelligent transportation systems, and green buildings. In the aforementioned areas he has 72 journal publications and more than 112 conference publications, and 2 granted USA/Singapore patents, and has been awarded more than 10million SGD research grants since 2011 in areas related to smart cities and smart manufacturing. Dr Su is a senior member of IEEE, and an associate editor for Automatica (IFAC), Journal of Discrete Event Dynamic Systems: Theory and Applications, and Journal of Control and Decision. He was the Chair of the Technical Committee on Smart Cities in the IEEE Control Systems Society in 2016 - 2019, and is currently the Chair of IEEE Control Systems Chapter, Singapore.

Control theory of switches and clocks.

Prof. Xin Xin

Okayama Prefectural Universiy, Japan


Underactuation is a technical term used in robotics and control to describe mechanical devices that have a lower number of actuators than degrees of freedom. Walking robots, acrobatic robots, and flexible robots are the examples of underactuated robotic systems (URSs). The study of design and control for underactuated robotic systems is a fertile and challenge research area having fruitful interactions with robotics and control, and has attracted many researchers from these two communities.

This talk presents a unified treatment of control design and analysis for a class of URSs we studied theoretically and experimentally for more than a decade, which includes systems with multiple-degree-of-freedom and/or with underactuation degree two. This talk introduces some new notions, features, design techniques, strict motion analysis results, and the results of controllability and observability for these systems. Specifically, by studying the passivity of the systems and presenting new physical properties of the systems, we present a new concept of virtual composite links and present a global swing-up controller for multiple link planar underactuated robots based on such a concept. These new materials are shown to be vital in studying the control design and stability analysis of underactuated robotic systems. The theoretical developments are validated by experimental results for several systems. Finally, we introduce some future research topics for underactuated robotic systems.


Xin Xin received the B.S. degree in 1987 from University of Science and Technology of China, Hefei, China, and the Ph.D. degree in 1993 from Southeast University, Nanjing, China. From 1991 to 1993, he did his Ph.D. studies in Osaka University as a co-advised student of China and Japan with the Japanese Government Scholarship. He also received the Doctor degree in engineering in 2000 from Tokyo Institute of Technology. From 1993 to 1995, he was a postdoctoral researcher and then became an associate professor of Southeast University. From 1996 to 1997, he was with the New Energy and Industrial Technology Development (NEDO), Japan as an advanced industrial technology researcher. From 1997 to 2000, he was an assistant professor of Tokyo Institute of Technology. From 2000, he has been with Okayama Prefectural University (OPU) as an associate professor, where he is now a full professor since 2008. He was the assistant of the Dean of the faculty of Computer Science and Systems Engineering, the Chair of the Department of Systems Engineering, and the vice director of the international exchange center of OPU. He has about 210 publications in journals, international conferences and book chapters. He received the division best paper award of Society of Instrument and Control Engineering (SICE) Annual Conference on Control Systems in 2004. His current research interests include robotics, dynamics and control of nonlinear and complex systems. He is now associate editors of IEEE Control Systems Letters, Transactions of the Society of Instrument and Control Engineers.

On Intelligent Decision Framework for Smart Buildings.

Prof. Qianchuan Zhao

Tsinghua University, China


Building energy consumption accounts for a major part of social total energy usage. Energy saving for buildings through technical improvement is a hot research topic in recent years. However, we observe that many advanced research on energy saving operating strategies are hardly implemented. In this talk, we introduce a swarm intelligence based Cyber-Physical System framework and demonstrate the potential of this framework to enable plug-and-play and self-organized distributed computing features of devices and support for optimal energy saving decisions.


Qianchuan Zhao received the B.E. degree in automatic control in July 1992, the B.S. degree in applied mathematics in July 1992, and MS and Ph.D. degrees in control theory and its applications in July 1996, all from Tsinghua University, Beijing, China. He is currently a Professor and Director of the Center for Intelligent and Networked Systems (CFINS), Department of Automation, Tsinghua University. His current research focuses on the modeling, control and optimization of complex networked systems. He has published more than 80 research papers in peer-reviewed journals and conferences. Dr. Zhao is an editor for the IEEE Transactions on Automation Science and Engineering. He was awarded The National Science Fund for Distinguished Young Scholars of China in 2014.