講座名稱：針對(duì)具有擾動(dòng)和約束的移動(dòng)機(jī)器人魯棒軌跡跟蹤控制研究

報(bào)告1：Robust Trajectory Tracking Control for Perturbed Unycicle Mobile Robots

報(bào)告2：Robust Trajectory Tracking Control for Constrained Unycicle Mobile Robots

講座人：Hector Rios Barajas 副研究員

講座時(shí)間：12月9日9:00-11:10

地點(diǎn)：騰訊會(huì)議線上報(bào)告 ID：103-614-961

講座人介紹：

Hector Rios Barajas為墨西哥拉古納理工學(xué)院副研究員，墨西哥國家二級(jí)研究學(xué)者以及IEEE資深會(huì)員。Hector Rios Barajas主要研究領(lǐng)域主要包括齊次系統(tǒng)穩(wěn)定性分析、有限時(shí)間估計(jì)與控制、滑?？刂萍捌鋺?yīng)用、線性和非線性以及混雜系統(tǒng)估計(jì)、故障檢測(cè)/隔離和識(shí)別問題；脈沖系統(tǒng)的穩(wěn)定性分析、約束系統(tǒng)控制、以及無人機(jī)和地面車輛的魯棒控制問題。自2017年至今Hector Rios Barajas負(fù)責(zé)和參與多項(xiàng)墨西哥國家技術(shù)部關(guān)于移動(dòng)機(jī)器人和四旋翼等類型機(jī)器人以及機(jī)電系統(tǒng)中建模與控制、容錯(cuò)控制等理論研究以及工程開發(fā)項(xiàng)目，并且負(fù)責(zé)了墨西哥國家技術(shù)部與法國國家信息與自動(dòng)化研究所的基于人工智能的多機(jī)器人控制方法項(xiàng)目。目前Hector Rios Barajas已經(jīng)發(fā)表期刊和會(huì)議論文150余篇，包括控制領(lǐng)域頂級(jí)期刊IEEE Transactions on Automatic Control和Automatica論文10多篇。此外，參與撰寫控制理論專著6部。

講座內(nèi)容：

報(bào)告1：In this lecture, the design of different robust controllers is presented to solve the trajectory tracking problem in perturbed unicycle mobile robots. The proposed strategy takes into account the design of two particular sliding variables, which ensure the convergence of the tracking error to the origin despite the effect of some external perturbations (slipping and slippage effects on the wheels). The straightforward structure of the controllers is simple to tune and implement. The stability of the closed-loop tracking error dynamics is demonstrated through a Lyapunov approach. Furthermore, the performance of the proposed approaches is validated through some experiments using a QBot2 unicycle mobile robot.

報(bào)告2：In this lecture, the design of a robust controller is presented to solve the trajectory tracking problem in perturbed and constrained unicycle mobile robots. Considering state and input constraints, we provide an interval predictive tracking control for perturbed and constrained unicycle mobile robots. The proposed strategy comprises the design of a robust control law, which is based on an Integral sliding-mode control approach together with an interval predictor-based state-feedback controller through a Model Predictive Control scheme. The robust controller deals with some perturbations in the kinematic model, which represent slipping effects, and with state and input constraints that are related to restrictions on the workspace and saturated actuators, respectively. The performance of the proposed approach is validated through some simulations.

主辦單位：機(jī)電工程學(xué)院