論壇名稱(chēng)：《機(jī)器人建模與控制》系列報(bào)告

會(huì)議地點(diǎn)：騰訊會(huì)議直播

主辦單位：機(jī)電工程學(xué)院

主持人：平續(xù)斌 李志武

講座人介紹：

鄭剛，現(xiàn)為法國(guó)國(guó)家信息自動(dòng)化研究所一級(jí)研究員、博導(dǎo)，IEEE高級(jí)會(huì)員，法國(guó)動(dòng)態(tài)系統(tǒng)建模、分析與決策委員會(huì)會(huì)員，法國(guó)里爾大學(xué)中法聯(lián)合實(shí)驗(yàn)室副主任。曾任法國(guó)國(guó)家學(xué)術(shù)委員會(huì)控制專(zhuān)委會(huì)副主席，法國(guó)北方自動(dòng)化和人機(jī)智能系統(tǒng)委員會(huì)副主席, 以及國(guó)際自動(dòng)控制聯(lián)合會(huì)(IFAC) TC 9.2技術(shù)委員會(huì)副主席，其主要研究興趣包括復(fù)雜動(dòng)態(tài)系統(tǒng)的觀測(cè)與控制、及其在機(jī)器人中的相關(guān)應(yīng)用。目前在Springer出版專(zhuān)著1本，在國(guó)際會(huì)議及期刊上發(fā)表學(xué)術(shù)論文160余篇，包括約20篇Automatica及IEEE TAC，參與并主持多項(xiàng)法國(guó)國(guó)家自然科學(xué)基金項(xiàng)目。

報(bào)告1：Modeling and robust control of indoor blimp（室內(nèi)飛艇）

會(huì)議時(shí)間：4月30日15:00

會(huì)議地點(diǎn)：騰訊會(huì)議直播(ID：806 164 603)

講座內(nèi)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.

報(bào)告2：Finite-time estimation and control of quadrotor（四旋翼飛行器）

會(huì)議時(shí)間：4月30日16:00

會(huì)議地點(diǎn)：騰訊會(huì)議直播(ID：806 164 603)

講座內(nèi)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.

報(bào)告3：Supervisory robust control of mobile robot（移動(dòng)機(jī)器人）

會(huì)議時(shí)間：5月2日15:30

會(huì)議地點(diǎn)：騰訊會(huì)議直播(ID：241 910 778)

講座內(nèi)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.

報(bào)告4：Identification and adaptive control of low-cost manipulator（機(jī)器手臂）

會(huì)議時(shí)間：5月4日15:00

會(huì)議地點(diǎn)：騰訊會(huì)議直播(ID：715 951 255)

講座內(nèi)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.

報(bào)告5：Control-oriented co-design methodology for soft robotics（軟體機(jī)器人）

會(huì)議時(shí)間：5月4日16:00

會(huì)議地點(diǎn)：騰訊會(huì)議直播(ID：715 951 255)

講座內(nèi)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.