2017-11-27, 周一
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忻欣:Control Design and Analysis for Underactuated Robotic Systems: Theory and Experimental Validation





报 告 人:忻欣 教授


工作单位:日本 冈山县立大学






研究领域包括欠驱动机械人系统的非线性控制理论和实验验证、鲁棒控制及其在机器人控制中的应用、复杂系统的建模与控制及在能源系统中的应用。在国际、中国、日本的核心期刊上发表论文84篇,其中在 IEEE Transactions on Automatic Control、IEEE Transactions on Robotics、Automatica 等SCI期刊上发表论文44篇,出版专著6部,2009-2016年间获得过包括IEEE学会和SICE颁发的8项最佳论文奖。现任中国自动化学会控制理论专业委员会委员,IEEE Control Systems Letters、日本计测与自动控制学会论文杂志、日本机器人学会论文杂志等杂志的副编。



Underactuation is a technical term used in robotics and control to describe mechanical devices that have a lower number of actuators than degrees of freedom. The study of design and control for underactuated robotic systems (URSs) is a fertile research area having fruitful interactions with robotics and control, and has attracted many researchers from these two communities. This talk presents a unified treatment of control design and analysis for a class of URSs we studied for more than a decade, which includes systems with multiple-degree-of-freedom and/or with underactuation degree two. This talk presents some new notions, features, design techniques, and strictly global motion analysis results for these systems. These new materials are shown to be vital in studying the control design and stability analysis of URSs. The theoretical developments are validated by experimental results for several systems. It is expected that this talk will not only enable the listener to gain a better understanding of the power and fundamental limitations of linear and nonlinear control theory for the control design and analysis for these URSs, but also inspire the listener to address the challenging problems of more complex URSs.