Date: April 10 2019
Speaker: Anton Shiriaev, Professor in Automatic Control at the Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway
Analytic and Computational Tools for Orbital Stabilization of Behaviors of Underactuated Mechanical Systems
One of great advantages of model-based approaches in robotics is a possibility to separate the task of motion and trajectory planning from the task of a synthesis of feedback controller for stabilizing the preplanned behavior. This is quite different from the way humans learn motions where searches (trials) for new behaviors are embodied and accompanied by feedback actions. The talk will provide a discussion of the second assignment (feedback controller design) for the case when a feedback controller is requested to ensure a Poincare (or the same orbital) stability of a forced periodic solution of a nonlinear dynamical system. Geometric interpretations of the problem settings motivate introducing specific coordinates (transverse to the motion and along the motion) that help in defining math concepts and computational tools necessary for solving the stabilization task for smooth or hybrid nonlinear systems. The development is illustrated by examples of controlling gaits of walking robots and hand manipulations of passive objects with one or several passive degrees of freedom.
Anton Shiriaev is Professor in Automatic Control at the Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway. He received PhD degree in Applied Math from St. Petersburg State University, Russia, in 1997 under the guidance of Prof. VA. Yakubovich. Anton held (permanent and visiting) positions in a number of universities world-wide, including Lund and Umea Universities (Sweden), the University of Seville (Spain), the CNRS (France), Universities of Aalborg and Odense (Denmark), the Sungkyunkwan University, Suwon (Republic of Korea), the Tokyo Institute of Technology (Japan), the Russian Academy of Sciences. He has published more than 150 scientific papers on subjects of systems and control theory, robotics and mechatronics. His projects have been supported by the Swedish, Danish and Norwegian Research Councils, as well as private companies.
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