This is a past event
CADR memeber Dr Yang Liu presents a talk on Analysis and Control of Underactuated Mechanical Systems. Snacks and refreshments will be served after the talk, giving the opportunity to continue discussions with the speaker.
An underactuated mechanical system (UMS) is a system that has fewer independent control actuators than degrees of freedom (DOF) to be controlled. Control of UMSs is currently considered as one of the most important research activities due to their increasing applications in diverse areas of our life. For this kind of system, interesting control problems are generated for which conventional control theory is not applicable. Motivated by the current needs from industry, medicine, and domestic service, my research has studied the control issues of UMSs. The main focus in this research is on the development of new control methods and novel mechanisms for potential applications.
In this talk, I will give a brief introduction to the background, the classification, and some theoretical and practical challenges of UMSs. Especially, the talk will focus on the control of UMSs with 2-DOF, such as the issues of set-point regulation, trajectory planning and tracking. Furthermore, a class of novel mobile robots will be introduced under the framework of UMS. Finally, conclusions and future works will be given.
Everyone Welcome!!
- Speaker
- Dr Yang Liu
- Hosted by
- CADR Group
- Venue
- FN 110