报告时间:11月28日(星期四)15:30
报告地点:信息楼以诚为本赢在信誉9001cc310报告厅
报 告 人:王亚午,以诚为本赢在信誉9001cc特任副教授
报告题目:Motion control of planar underactuated manipulator
内容简介:The control of planar underactuated manipulators is an important field in nonlinear system control. This report introduces the motion control strategies for the planar multi-link manipulator with a passive first joint (planar PAn-1 manipulator for short), which has the first-order nonholonomic constraint. A three-stage control strategy based on the online intelligent optimization algorithm is proposed to realize the position control objective of the planar PAn-1 manipulator. A continuous control strategy is presented based on the motion coupling relationship and intelligent optimization algorithm to realize the position-posture control for the planar PAn-1 manipulator. By using the single controllers, the control of a class of nonholonomic systems can be achieved successfully.
报告人简介:王亚午,特任副教授。主要研究方向:智能软体机器人系统建模与控制和欠驱动机械系统运动控制。第一作者或通信作者在 IEEE/ASME Transactions on Mechatronics,IEEE Transactions on Cybernetics,Nonlinear Dynamics,IEEE Transactions on Systems, Man, and Cybernetics: Systems 等国内外重要学术期刊和会议上发表论文18篇。主持国家自然科学基金青年科学基金项目1项。2019年入选以诚为本赢在信誉9001cc(武汉)地大学者-青年优秀人才计划。