Control of Nonlinear Mobile Systems----系统科学研究所

学术报告

Control of Nonlinear Mobile Systems
主讲：Xiaoming Hu (Royal institute of technology, Stockholm, Sweden )
举办时间：2014.7.14-23 地点：N224

Contents

Chapter 1. Introduction

1.1. Nonlinear systems and robots

1.2. Some basic results

Chapter 2. Nonlinear Modeling

2.1. Rigid body motion

2.2. Manipulator kinematics

2.3. Manipulator dynamics

Chapter 3. Nonlinear Analysis

3.1. Periodic solutions

3.2. Second order systems

3.3. Lyapunov stability theory

3.4. Lyapunov’s direct method

3.5. Stability of invariant set

3.6. Nonsmooth and switching systems

Chapter 4. Nonlinear Control

4.1. Motion and force control

4.2. Nonholonomic robots and controllability

4.3. Perception and observability

4.4. Kalman filter and extended Kalman filter

4.5. Steady state response and center manifold

4.6. Center manifold theory

4.7. Zero dynamics and its applications

4.8. Disturbance decoupling problem (DDP)

4.9. Exact linearization via feedback

Chapter 5. PMP: A Special Case

5.1. Linear Quadratic Control

5.2. Derivation Using Dynamic Programming (Optional)

Chapter 6. PMP: General Results

6.1. Autonomous Systems: Fixed Initial and Final States

6.2. Optimal Control to a Manifold

6.3. Some Generalizations

6.4. How to Use PMP

Schedule

2014.7.14 (Monday) Room N420
Lecture 1 (9:00~11:00) Introduction and modeling	Lecture 2 (15:00-17:00) Modeling and analysis
2014.7.16 (Wednesday) Room N208
Lecture 3 (9:00~11:00) Nonlinear analysis	Lecture 4 (15:00-17:00) Nonlinear analysis and control
2014.7.18 (Friday) Room N208
Lecture 5 (9:00~11:00) Nonlinear controllability	Lecture 6 (15:00-17:00) Zero dynamics and applications
2014.7.21(Monday) Room N420
Lecture 7 (9:00~11:00) Kalman filter and EKF
2014.7.22 (Tuesday) Room N420
Lecture 8 (9:00~11:00) Optimal control
2014.7.23 (Wednesday ) Room N420
Lecture 9 (9:00~11:00) Optimal control to a manifold

Hu Xiaoming received the B.S. degree from the University of Science and Technology of China in 1983, and the M.S. and Ph.D. degrees from the Arizona State University in 1986 and 1989 respectively. He served as a research assistant at the Institute of Automation, the Chinese Academy of Sciences, from 1983 to 1984. From 1989 to 1990 he was a Gustafsson Postdoctoral Fellow at the Royal Institute of Technology, Stockholm, where he is currently a professor of Optimization and Systems Theory. His main research interests are in nonlinear control systems, nonlinear observer design, sensing and active perception, motion planning, control of multi-agent systems, and mobile manipulation.

注：参加此课程的博士生在课程结束后完成相关试卷，可作为博士生课程。

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