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《机器人建模与控制》系列学术报告

来源:机电工程学院          点击:
报告人 郑刚 教授 时间 4月30日15:00
地点 腾讯会议直播 报告时间

论坛名称:《机器人建模与控制》系列报告

会议地点:腾讯会议直播

主办单位:机电工程学院

主持人:平续斌 李志武

讲座人介绍:

郑刚,现为法国国家信息自动化研究所一级研究员、博导,IEEE高级会员,法国动态系统建模、分析与决策委员会会员,法国里尔大学中法联合实验室副主任。曾任法国国家学术委员会控制专委会副主席,法国北方自动化和人机智能系统委员会副主席, 以及国际自动控制联合会(IFAC) TC 9.2技术委员会副主席,其主要研究兴趣包括复杂动态系统的观测与控制、及其在机器人中的相关应用。目前在Springer出版专著1本,在国际会议及期刊上发表学术论文160余篇,包括约20篇Automatica及IEEE TAC,参与并主持多项法国国家自然科学基金项目。


报告1:Modeling and robust control of indoor blimp(室内飞艇)

会议时间:4月30日15:00

会议地点:腾讯会议直播(ID:806 164 603)

讲座内容:

Recently, the blimp robot has attracted more and more attentions of the researchers for its advantages compared to other aircrafts, such as ability for VTOL, stationary and low speed flight, long endurance in air and safe Human-Robot interaction, etc. Therefore, it is an ideal platform for various indoor applications. In this talk, the modeling and motion control of an indoor blimp robot will be presented which is developed for indoor operations such as the long-term surveillance. In this work, the 6-DOF dynamic model is simplified and divided into two independent parts: the altitude motion and the horizontal plane movement. Then, to ensure the accuracy of modeling and control, the nominal model is complemented with disturbance terms which are estimated in real-time and compensated in the designed controllers. Finally, real tests are made on the blimp robot platform for the validation of the designed motion control laws, and satisfying results are obtained.


报告2:Finite-time estimation and control of quadrotor(四旋翼飞行器)

会议时间:4月30日16:00

会议地点:腾讯会议直播(ID:806 164 603)

讲座内容:

In the past several decades, quadrotor control problems attract more attentions of the researcher comparing with other flying vehicles. However, most of the commercial products still use linear PID controller, which provides sufficiently good performance. Development of a controller, which would convince the industry to use it instead of linear PID, is still a challenge. The aim of this talk is to show that finite-time controller is a possible alternative to linear one. For this purpose, a new method of upgrading linear algorithm to homogeneous one is proposed. It uses the gains of linear controller/observer provided by the manufacturer for tuning of homogeneous algorithm. The experimental results support the theoretical developments and confirm a significant improvement of quadrotor’s control quality: better precision, more robustness and faster response.


报告3:Supervisory robust control of mobile robot(移动机器人)

会议时间:5月2日15:30

会议地点:腾讯会议直播(ID:241 910 778)

讲座内容:

This talk addresses the obstacle avoidance for wheeled mobile robots. The supervisory control framework coupled with the output regulation technique allowed to solve the obstacle avoidance problem and to formally prove the existence of an effective solution: two outputs for two objectives, reaching the goal and avoiding the obstacles. To have fast, reliable and robust results the designed control laws are finite-time, a particular class very appropriate to the purpose. The novelty of the approach lies in the easiness of the geometric approach to avoid the obstacle and on the formal proof provided under some assumptions. The solution has been thus extended to control a leader follower formation which, sustained from the previous result, uses two outputs but three controls to nail the problem.


报告4:Identification and adaptive control of low-cost manipulator(机器手臂)

会议时间:5月4日15:00

会议地点:腾讯会议直播(ID:715 951 255)

讲座内容:

Unlike industrial manipulators which are huge in size and of high price, many low-cost robot manipulators have already entered the market, with small size and light weight, this type of robots is more accessible to the public. However, limited by the cost, the components adopted (materials, actuators, controllers, etc.) are also limited, this often leads to less robust control performance. This talk focuses on the controller design to improve the performance for such kind low-cost robot manipulators. For rigid case, dynamic modeling considering the actuator system is established, which forms a differential equation with constant parameters and disturbance, a method to identify the model parameters using observers and then an adaptive controller is proposed, simulation and experimental results are shown the efficiency of the proposed method.


报告5:Control-oriented co-design methodology for soft robotics(软体机器人)

会议时间:5月4日16:00

会议地点:腾讯会议直播(ID:715 951 255)

讲座内容:

Soft robotics has become an emergent research area recently due to its unique characteristics compared to conventional rigid robots. Its inherent properties, such as compliance and flexibility, provide some promising characteristics for the current robotic applications. On the contrary, its intrinsic 'soft' characteristic would result in some complex nonlinear behaviors, causing more difficulties in modeling and control of soft robots. In this talk, an innovative simulation/control co-design methodology will be presented when designing soft robotics. The main idea is to use different approach (FEM, Cosserat) to model soft robots, and then analyze the properties (workspace, controllability etc.) to judge whether the designed soft robot satisfies the specification.  In the same framework, different types of controllers might be designed and validated before passing the phase of prototype fabrication.

 

 

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