The final Mathematics Colloquium Series talk, hosted by the Farquhar College of Arts and Sciences Division of Math, Science, and Technology, will take place on Thursday, Dec. 8, from 2:15 to 3:15 p.m., in the Alvin Sherman Library, room 2053. Guillaume Mercère, Ph.D., associate professor at the University of Poitiers in France, will present “LPV System Identification of a Flexible Manipulator: A Grey-Box Approach.”
In this presentation, Mercère will introduce a new approach for identifying the dynamical model of flexible manipulators. The structure of the identified model, chosen as a descriptor LPV model, is derived from the original, non-linear equations governing the behavior of the system. A set of experiments around different configurations is involved, which is suitable for an accurate measurement of the tip of the manipulator by video camera. The final estimation step is global, allowing the direct identification of the global model based on the collection of local experimental data.
One of the shortcomings of the developed approach, however, is the use of genetic algorithm for the minimization of the identification criterion. This technique has been chosen because of the complexity of the identification cost function. As part of the talk, Mercère will also discuss the initialization of non-convex optimization algorithms, paying specific attention to linear, time-invariant grey-box models. The talk will also include a discussion about an extension to LPV structure.
The Mathematics Colloquium Series aims to increase awareness of mathematics’ importance and applications in daily life. The series also gives mathematics faculty members and students the opportunity to discuss independent research and share their passion for the subject. These talks are free and open to the public.
For more information on this lecture or the college’s Mathematics Colloquium Series, contact Vehbi Paksoy, Ph.D., or Iuliana Stanculescu, Ph.D., assistant professors in the college.