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BEGIN:VEVENT
UID:20260619T080531EDT-1674fsv4zS@132.216.98.100
DTSTAMP:20260619T120531Z
DESCRIPTION:Virtual Informal Systems Seminar (VISS) Centre for Intelligent 
 Machines (CIM) and Groupe d'Etudes et de Recherche en Analyse des Decision
 s (GERAD)\n	\n	Zoom Link\n	Meeting ID: 910 7928 6959        \n\nPasscode: VIS
 S\n	\n	Speaker: James Richard Forbes\, Associate Professor\, Department of M
 echanical Engineering\,  ɬÀï·¬\n	\n	Abstract: This talk consider
 s optimal control of a quadrotor unmanned aerial vehicles (UAV). The state
  of a quadrotor UAV is represented as an element of the matrix Lie group o
 f double direct isometries\, SE_2(3). The nonlinear system is linearized u
 sing a left-invariant error about a reference trajectory\, leading to an o
 ptimal gain sequence that can be calculated offline. The reference traject
 ory is calculated using the differentially flat properties of the quadroto
 r. Monte-Carlo simulations demonstrate robustness of the proposed control 
 scheme to parametric uncertainty\, state-estimation error\, and initial er
 ror. Additionally\, when compared to a controller that uses a conventional
  error definition\, the proposed controller demonstrates better performanc
 e when initial errors are large. This work was done in collaboration with 
 Mitchell R. Cohen and Khairi Abdulrahim.\n	\n	Bio: James Richard Forbes rece
 ived his B.A.Sc. in Mechanical Engineering (Honours\, Co-op) from the Univ
 ersity of Waterloo in 2006. James was awarded his M.A.Sc and Ph.D. degrees
  in Aerospace Science and Engineering from the University of Toronto Insti
 tute for Aerospace Studies in 2008 and 2011\, respectively. James is curre
 ntly an Associate Professor within the Department of Mechanical Engineerin
 g at ɬÀï·¬. James is an Associate Member of the Centre for Int
 elligent Machines (CIM)\, and a Member of the Group for Research in Decisi
 on Analysis (GERAD). James is the recipient of a William Dawson Scholar aw
 ard. James was awarded the ɬÀï·¬ Associate for Mechanical Engineering (MA
 ME) Professor of the Year Award in 2016\, and the Engineering Class of 194
 4 Outstanding Teaching Award in 2018. James is head of the Dynamics\, Esti
 mation\, & Control of Aerospace & Robotic (DECAR) systems group.\n
DTSTART:20210108T150000Z
DTEND:20210108T160000Z
LOCATION:CA\, ZOOM
SUMMARY:Optimal Control of Quadrotors on the Matrix Lie Group of Double Dir
 ect Isometries SE_2(3)
URL:/cim/channels/event/optimal-control-quadrotors-mat
 rix-lie-group-double-direct-isometries-se23-327437
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