99905银河官方网[2019第91期]：99905银河官方网青年学者王亚午特任副教授报告会

报告时间：11月28日（星期四）15:30

报告地点：信息楼99905银河官方网310报告厅

报 告 人：王亚午，99905银河官方网特任副教授

报告题目：Motion control of planar underactuated manipulator

内容简介：The control of planar underactuated manipulators is an important field in nonlinear system control. This report introduces the motion control strategies for the planar multi-link manipulator with a passive first joint (planar PA^n-1 manipulator for short), which has the first-order nonholonomic constraint. A three-stage control strategy based on the online intelligent optimization algorithm is proposed to realize the position control objective of the planar PA^n-1 manipulator. A continuous control strategy is presented based on the motion coupling relationship and intelligent optimization algorithm to realize the position-posture control for the planar PA^n-1 manipulator. By using the single controllers, the control of a class of nonholonomic systems can be achieved successfully.

报告人简介：王亚午，特任副教授。主要研究方向：智能软体机器人系统建模与控制和欠驱动机械系统运动控制。第一作者或通信作者在 IEEE/ASME Transactions on Mechatronics，IEEE Transactions on Cybernetics，Nonlinear Dynamics，IEEE Transactions on Systems, Man, and Cybernetics: Systems 等国内外重要学术期刊和会议上发表论文18篇。主持国家自然科学基金青年科学基金项目1项。2019年入选99905银河官方网（武汉）地大学者-青年优秀人才计划。