Topic：Multi-objective Complementary Control Robust Tracking and Passivity-Preserved Robust Admittance Control

Date&Time：Nov.30th 10:00a.m.-11:30a.m.（Beijing Time）

Speaker：Prof. Xiang Chen

From：Department of Electrical and Computer Engineering University of Windsor, Canada

Voov：881 769 618（49722)

Abstract：

In this talk, outline of a new design paradigm for multi-objective complementary control is first presented. It is shown that the new design framework can be implemented with a new observer-based state-feedback structure.

Second, two examples are presented under this new design framework: robust tracking control and passivity-preserved robust admittance control for an interactive robotic arm. In particular, it is shown that this new framework achieves complementary nominal performance and robustness and is capable of delivering strong disturbance attenuation with much less compromised nominal performance, which is in contrast with traditional robust control design based on trade-off nominal performance. Experimental results is also presented on an interactive robotic arm for load lifting.

Introduction Of the speaker：

Xiang Chen received M. Sc. and Ph. D. degree in system and control from Louisiana State University in 1996 and 1998. He held cross-appointed positions in Department of Electrical and Computer Engineering and Department of Mechanical, Automotive and Materials Engineering at the University of Windsor, Canada, and is currently a Professor in the Department of Electrical and Computer Engineering. He has made fundamental contribution to Gaussain filtering and control, control of nonlinear systems with bifurcation, networked control system, and optimization of field sensing networks. He has also made significant contribution to industrial applications of control and optimization in automotive systems and in visual sensing systems for manufacturing through extensive collaborative research and development activities with automotive, robotics, and manufacturing industries. Some of the technological deliverables have been applied in product lines of relevant companies. He is currently serving Senior Editor for the IEEE/ASME Transactions on Mechatronics and Associate Editor for SIAM Journal on Control and Optimization. He received the Award of Best Paper Finalist from 2017 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2017), the Award of Best Student Paper Finalist (as the supervisor author) from 2015 ASME DSCC, the New Opportunity Awards from the Canadian Foundation of Innovation (CFI) and from the Ontario Centre of Excellence--Materials and Manufacturing Ontario, as well as 4 times Research Excellence Awards from the University of Windsor. His research has been well supported by government agencies at both federal and provincial levels in Canada and from industrial companies in both Canada and USA. His current research interests include multi-objective complementary optimization and control of systems with complexities, optimization and control of field sensing networks and field sensor guided autonomous operations, graph-/game-theoretic approaches for complex networked systems, as well as control applications to automotive systems, manufacturing systems, and autonomous vehicles. He is a registered Professional Engineer in Ontario, Canada.