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《移动机器人控制系统构造》学术报告
2016-10-18
机械学院诚邀波兰波兹南理工大学Professor K. Kozlowski进行为期3天的智能系统学术报告。K. Kozlowski教授在1979年获得了波兰波兹南大学的理科硕士学位和控制工程博士学位,他目前是机器人与自动化专业教授。2002年在波兹南理工大学，他创立并作为一个新的控制系统工程研究所的主席。他从事教学研究领域的移动机器人建模和控制工业。他的研究兴趣包括多代理系统、识别和各种机器人应用程序。他的研究出版物包括140多个会议论文和50多个在国内外期刊上发表的论文。他是名为《建模和识别机器人》书的作者(斯普林格出版社,1998年版)。
此次邀请机会难得，请感兴趣的学生积极参与。
报名邮箱：jianhui.wang@tju.edu.cn 王老师
时间：10月17、18、19日（三天），上午10：00-12:00，下午14:00-15:30。
地点：新校区37楼（机械学院办公楼），212会议室。
下面是K. Kozlowski教授的报告摘要和个人简介：
Title: 标题
Mobile robot modelling and control
Abstract:
In this short course we present modelling and control of mobile differentially driven robots. Course aims to present some theoretical considerations that are supported by simulations and experiments. It is subdivided into four one and half hours lecture each that show in a systematic manner all material.
In the first part kinematics of a differentially driven robot is described. It shows modelling of kinematics with nonholonomic constraint. A concept of velocity constraint in different directions is introduced with its closed form is described and zero matrix space is elaborated. An extension to other kinematic structures is discussed for example car-like mobile and omnidirectional robots.
The second part of the course is devoted to modelling of dynamics of differentially driven robot. All dynamical equations are derived based on Lagrange equations with velocity constraints. It is shown how Lagrange multipliers can be eliminated and calculated in explicit form if necessary. Physical interpretation of these multipliers is discussed in detail. A rigorous derivation of dynamical equations is presented. Next properties of the mass matrix are elaborated from a point of control along with physical interpretation of each component that appears in dynamical equations of motion.
The third and fourth parts are devoted to control. Here basic concept of differential geometry is used to derive control algorithms both at kinematic and dynamic level. Firstly basic notions from differential geometry are introduced such as vector field, Liederivative, Lie bracket, distribution and model transformations. These tools will be used to explain controllability issue of a differentially driven mobile robot its model transformations and full state linearization. Next set point and tracking control problems will be formulated. Finally formally nonlinear feedback design is proposed and discussed in detail.
The fourth part refers to the state space representation of the dynamical model derived during the second lecture. Next linearization at the dynamic level is proposed and derived. Properties of the controller are widely elaborated. It is shown that zero dynamics of the system is stable but not asymptotically stable. All equations are derived and discussed at each stage so the classmates are able to understand presented material in full. In addition simulation and experimental results will be shown to illustrate each part of the material studied during the course.
个人简介：
Professor K. Kozlowski received the M.Sc. degree in electrical engineering from Poznan University of Technology (PUT), Poland, and the Ph.D. degree in control engineering from PUT in 1979, where he currently holds full professor position in robotics and automation. In 1993, he was a Fulbright scholar with Jet Propulsion Laboratory, Pasadena, USA. He founded and serves as a chairman of a new Institute of Control and Systems Engineering established on January 1, 2002 at Poznan University of Technology.
He teaches and conducts research in the area of modeling and control of industrial and mobile robots. His research interests include multi-agent systems, identification and various robotics applications. His research publications include more than 140 conference papers and more than 50 papers published in national and international journals. He is an author of the book titled Modelling and Identification in Robotics (Springer-Verlag, 1998).
He was an Associate Editor for the IEEE Transactions on Control Systems Technology (1999-2008), for the IEEE Robotics and Automation Magazine (1998-2001) and for the Journal of Intelligent and Robotic Systems (2004-2010). He is an Associate Editor for theInternational Journal of Applied Mathematics and Computer Science since 1999 till now and for the IEEE Conference Editorial Board, Conference on Decision and Control (CDC) and American Control Conference (ACC) since 1999 till now. He is actively working for IEEE Robotics and Automation Society being a member of The Administration Committee (2001-2002 and 2004-2005) and IEEE Control Systems Society being a member of the Board of Governors (2003-2004). He supports IEEE Robotics and Automation Polish Chapter in the years 2000-2008 and currently 2014-2017. In 2001 this Chapter was awarded the prize “2001 Best Chapter of the Year”.
He was a plenary speaker at several international conferences:
1. International Conference on Automotive Technology and Automation, 1997, Pisa, Italy. 2. 7th International Conference on Methods and Models in Automation and Robotics, 2001, Miedzyzdroje, Poland. 3. 2ndMediterranean Conference on Intelligent Systems and Automation, CISA 2009, Tunisia. 4. 17th International Conference on Methods and Models in Automation and Robotics, 2012, Miedzyzdroje, Poland. 5. 10thInternational Symposium on Tools and Methods in Competitive Engineering, 2014, Hungary.6. BIT'S 1stEmerging Industrial Forum, 2013, China.? 7. 13thInternational Conference on Informatics in Control Automation and Robotics, 2015, France.8. World Congress on Robotics, 2015, China. 9. Invited lectures delivered at the University of Kobe, Nagoya University, Sendai University, Hiroshima University, Japan, the Korea Advanced Institute of Science and Technology (KAIST), Korea, Harbin University, China, between 2004 and 2005.?10. Short week-long stays under the ERASMUS programme at the University of Braunschweig, Germany, the University of Sacley, France, the University of Lisbon, the University of Coimbra, Portugal, INRIA, Sophia Antipolis, France, between 2004 and 2016 along with scientific lectures on the conducted research.