CSSE Seminar Series (CSSESS)
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Seminar
Nonlinear Control of Under-actuated Mechanical Systems.
Speaker: Professor Akira Inoue.
Institute: Okayama University, Japan.
Time/Place: 3:00 - 3:40 pm, Friday, 11 Dec, in Room E547, Mechanical Engineering Building.
All are welcome.
Abstract
Many mechanical systems have nonlinearity and also have less number of control inputs than the number of controlled output variables, that is, under-actuatedness. The control of systems having nonlinearity and under-actuatedness is difficult and is studied in case by case. So far there does not exist a general theory for the control. In this lecture, nonlinear control of three kinds of under-actuated mechanical systems is summarized. The systems are: inverted pendulum system, Acrobot system, and helicopter experimental system. In particular, concerning the inverted pendulum system, a parallel cart-type double inverted pendulum and a serial cart-type double inverted pendulum are introduced. For the systems, different controller design scheme is considered. Experimental results on the systems are also shown.
View past or future seminars; or view the CSSESS Home Page.