April 29, 2019: Invited Speaker Seminar: State Observers Design for Autonomous Navigation Systems
Dr. Abdelhamid Tayebi
Monday, April 29, 2019 at 11:00 am
The development of reliable attitude, position and linear velocity estimation algorithms for autonomous navigation systems is instrumental in many applications such as autonomous underwater vehicles, autonomous ground vehicles and unmanned aerial vehicles. It is well known that there is no sensor that can directly measure the orientation of a rigid body moving in a three-dimensional space. This fact calls for the development of suitable attitude estimation algorithms that provide the attitude using the information provided by a set of sensors such as those of inertial measurement units (IMUs). Moreover, it is challenging to obtain the orientation of a rigid body, subject to non-negligible linear accelerations, using low cost IMUs and standard attitude estimation algorithms. It is also challenging to obtain (simultaneously and globally) the orientation, position and linear velocity of a system navigating in GPS-denied environments (e.g., indoor applications). Therefore, developing reliable estimation algorithms that provide the attitude, position and linear velocity, with strong stability guarantees, is of great importance (from the theoretical and practical points of view) for autonomous navigation systems. In this talk, we will present an overview, some new results and pertinent challenges related to the estimation problems for autonomous navigation systems.
Abdelhamid Tayebi received his B.Sc. in Electrical Engineering from Ecole Nationale Polytechnique, Algiers, in 1992, his M.Sc. (DEA) in robotics from Universite Pierre & Marie Curie, Paris, France in 1993, and his Ph.D. in Robotics and Automatic Control from Universite de Picardie Jules Verne, France in 1997. He joined the Department of Electrical Engineering at Lakehead University in 1999 where he is presently a Professor. He is a Senior Member of IEEE and serves as an Associate Editor for Automatica, IEEE Transactions on Control Systems Technology and Control Engineering Practice. He is the founder and Director of the Automatic Control Laboratory at Lakehead University. He is the recipient of the LU Contribution to Research Award in 2004, LU Contribution to Teaching Award in 2005, the Distinguished Researcher Award in 2008 and the LU Research Chair in 2012. His current research interests are in the broad area of Control Systems, Cooperative Control, Iterative Learning Control and Aerial Robotics.