Estimation and Control of Periodic Orbits

The ESR will develop novel theoretical and computational techniques for state estimation and tracking of periodic orbits.

Project

The project is aimed to develop novel theoretical and computational techniques for state estimation and tracking of periodic orbits. The methodology will be centered around optimization-based, or predictive control and moving horizon estimation. The theoretical work of the ESR will extend the recent research work of the host on periodic MPC to make it robust to the class of disturbances expected in kite power systems (e.g. Dryden turbulence). A key challenge of optimization-based techniques in such safety-critical applications is certification of the computation-time. The ESR will be trained in the development of bounded-time, sub-optimal algorithms that give stability and feasibility guarantees. The research training will build on initial results which proposes the first-order fast gradient method, for which apriori iteration bounds can be computed.

PhD Researcher

Peter graduated from the Bauman Moscow State Technical University in 2012 with Master's degree in automatic control systems engineering for flying vehicles . From August 2012 to October 2013, he worked as a Junior Researcher at RoboCV where he was responsible for development of path planning and trajectory tracking algorithms. From October 2013 to January 2016 he was a Lead Research Programmer and a team leader of the "Motion Control" group that works on optimal motion planning and control for constrained autonomous guided vehicle. His research interests include nonlinear system analysis, nonlinear model predictive control and stochastic estimation.

Supervisor

Colin Jones leads the research activities on airborne wind energy at the Automatic Control Laboratory since 2012. His current research interests are in the areas of predictive control, optimization and their application to green power technologies. Dr. Jones obtained a PhD in 2005 from the University of Cambridge in Control Engineering and optimization before joining ETH Zurich as a senior researcher within the Automatic Control Group.