講座名稱：針對具有擾動和約束的移動機器人魯棒軌跡跟蹤控制研究

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

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

講座人：Hector Rios Barajas 副研究員

講座時間：12月9日9:00-11:10

地點：騰訊會議線上報告 ID：103-614-961

講座人介紹：

Hector Rios Barajas為墨西哥拉古納理工學院副研究員，墨西哥國家二級研究學者以及IEEE資深會員。Hector Rios Barajas主要研究領域主要包括齊次系統穩定性分析、有限時間估計與控制、滑模控制及其應用、線性和非線性以及混雜系統估計、故障檢測/隔離和識別問題；脈沖系統的穩定性分析、約束系統控制、以及無人機和地面車輛的魯棒控制問題。自2017年至今Hector Rios Barajas負責和參與多項墨西哥國家技術部關于移動機器人和四旋翼等類型機器人以及機電系統中建模與控制、容錯控制等理論研究以及工程開發項目，并且負責了墨西哥國家技術部與法國國家信息與自動化研究所的基于人工智能的多機器人控制方法項目。目前Hector Rios Barajas已經發表期刊和會議論文150余篇，包括控制領域頂級期刊IEEE Transactions on Automatic Control和Automatica論文10多篇。此外，參與撰寫控制理論專著6部。

講座內容：

報告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.

報告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.

主辦單位：機電工程學院