针对具有扰动和约束的移动机器人鲁棒轨迹跟踪控制研究

讲座名称：针对具有扰动和约束的移动机器人鲁棒轨迹跟踪控制研究

报告1：Robust Trajectory Tracking Control for Perturbed Unycicle Mobile Robots

报告2：Robust Trajectory Tracking Control for Constrained Unycicle Mobile Robots

讲座人：Hector Rios Barajas 副研究员

讲座时间：12月9日9:00-11:10

地点：腾讯会议线上报告 ID：103-614-961

讲座人介绍：

Hector Rios Barajas为墨西哥拉古纳理工学院副研究员，墨西哥国家二级研究学者以及IEEE资深会员。Hector Rios Barajas主要研究领域主要包括齐次系统稳定性分析、有限时间估计与控制、滑模控制及其应用、线性和非线性以及混杂系统估计、故障检测/隔离和识别问题；脉冲系统的稳定性分析、约束系统控制、以及无人机和地面车辆的鲁棒控制问题。自2017年至今Hector Rios Barajas负责和参与多项墨西哥国家技术部关于移动机器人和四旋翼等类型机器人以及机电系统中建模与控制、容错控制等理论研究以及工程开发项目，并且负责了墨西哥国家技术部与法国国家信息与自动化研究所的基于人工智能的多机器人控制方法项目。目前Hector Rios Barajas已经发表期刊和会议论文150余篇，包括控制领域顶级期刊IEEE Transactions on Automatic Control和Automatica论文10多篇。此外，参与撰写控制理论专著6部。

讲座内容：

报告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.

报告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.

主办单位：机电工程学院