20 octobre 2026 à 14h
Valse team has several visitors that will make seminars next Tuesday, 20/10/2026, 14:00–15:00, at the room A00 of Inria:
Manas Kumar Bera, National Institute of Technology Rourkela, India
Title: Deep Neuro-Adaptive Sliding Mode Controller for Higher-Order Heterogeneous Nonlinear Multi-Agent Teams with Leader
Abstract: This talk presents a deep neural network (DNN)-based neuro-adaptive sliding mode control (SMC) strategy for leader-follower tracking in multi-agent systems with higher-order, heterogeneous, nonlinear, and unknown dynamics under external disturbances. The DNN is used to compensate the unknown nonlinear dynamics with higher accuracy than shallow neural networks (NNs), and SMC ensures robust tracking. This framework employs restricted potential functions within a set-theoretic paradigm to ensure system trajectories remain bounded within a compact set, improving robustness against approximation errors and external disturbances. The control scheme is grounded in non-smooth Lyapunov stability theory, with update laws derived for both inner- and outer-layer network weights of DNN.
Matias Iglesias, UNAM, Mexico
Title: Artificial Time Delay in Sliding Mode Control: Friend or Foe?
_Abstract: _This presentation investigates the effect of artificial time delay on chattering in delayed relay control (DRC) with parasitic actuator dynamics. Using describing-function and harmonic-balance methods, we characterize the resulting oscillations and show how the delay can be tuned to minimize their amplitude and control energy. The results highlight the dual role of artificial delay: while a properly selected delay can help regulate chattering, an excessively large delay may deteriorate the closed-loop behavior and become a source of persistent oscillations.
room A00 of Inria
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English