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Seminar - Energy Shaping of Mechanical Systems via PID Control by Dr. José Guadalupe Romero
日期:2018 年 07 月 04 日 ( 星期三)
Time:11:00 am – 12:00 pm
Venue:EF305

Abstract:

Control of underactuated mechanical systems via energy shaping is a well–established, robust design technique. Unfortunately, its application is often stymied by the need to solve partial differential equations (PDEs). In a recent contribution it was shown that a class of mechanical systems, which contains many practical examples, can be stabilized via energy shaping without solving PDEs. The proposed controller consists of two terms, a ''partial linearizing state–feedback'' and a linear PID loop around two new passive outputs. In this talk we present the following results

(1) For a class of systems, it is possible to identify two new passive outputs without the partial linearization step, finding in this way a class of mechanical systems that can be stabilised with a linear PID controller.

(2) A slight modification to the new controller, allows us to go beyond regulation tasks being able to follow ramp references in the actuated coordinates.

Bio-sketch:

José Guadalupe Romero was born in Mexico in 1983. He received the B.S. degree in electronic engineering from the University of Zacatecas, Zacatecas, Mexico, in 2006 and the M.Sc. degree in robotics and advanced manufacturing from the Centre for Research and Advanced Studies, National Polytechnic Institute(CINVESTAV), Mexico, in 2009. He obtained the Ph.D. degree in Control Theory from the University of Paris-Sud XI, France in 2013. He was a postdoctoral fellow at Schneider electric and EECI in Paris France and at the Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier(LIRMM) in 2014 and 2015, respectively. He has been a visiting researcher for short and long term periods at the Laboratoire des Signaux et Systèmes (CentraleSupelec) in Paris, the University of Newcastle in Australia and the Institute of Cyber-Systems & Control in Zhejiang University, Hangzhou, China. Currently he is an assistant professor at the Department of Digital systems, ITAM, Mexico. His research interests are focused on control theory, stability analysis and state estimation problem, with especial emphasis in non-linear systems.