报告内容简介：

In this talk, we inverstigate how the concepts of iBIBO (integral-bounded- input bounded-output) stability, passivity, and separation are applied in the control of nonlinear robotic systems. The concept of iBIBO stability can be considered as an extension of the well-known BIBO stability and is shown to play an important role in solving the consensus problems of multiple robotic systems with or without communication delays. We then study the control of visually servoed robotic systems from the passivity perspective By exploiting the passivity of the system kinematics, several adaptive controllers are proposed and the restrictive conditions that are required in the existing literature are relaxed. In addition, we derive an adaptive controller that enjoys the separation property, and one reduced version of this controller can be applied to most industrial robotic systems having an unmodifiable joint servoing controller yet admitting the design of the joint velocity command. We finally illustrate how the separation approach simplifies the controller design and/or stability analysis in adaptive visual tracking without image-space velocity measurement, task-space consensus of multiple robotic systems, and second-order consensus of multiple thrust-propelled vehicles (TPVs).

报告人简介：

王汉磊，博士，高级工程师，现就职于北京控制工程研究所。2009年7月于北京控制工 程研究所获博士学位，2006年于哈尔滨工业大学获硕士学位，2004年于石家庄铁道学院获 学士学位。在国际杂志发表SCI检索论文近20篇。主要研究方向：机器人、空间机器人、航天器、网络系统、遥操作和非线性控制。