报告人：姜钟平教授
题目： Some Open Control Problems in Nonlinear Underactuated Mechanical Systems
时间： 2009年 8月 13 日 （周四） 上午 10：00-11：00
地点： 中山北路校区理科大楼1510
报告简介:
Controlling underactuated mechanical systems is a research topic of both theoretical and practical importance. Examples of underactuated mechanical systems are almost everywhere, ranging from satellites, mobile robots to surface ships and underwater vehicles. These systems are strongly nonlinear and share a common feature that there are less number of actuators than the degree of freedom. It is well-known that there is no linear or nonlinear time-invariant continuous feedback law which can stabilize such a system with nonholonomic constraints to any given set-point. Fundamentally nonlinear approaches have been discovered and proposed by many researchers over the last 20 years.
In this talk, I will first give a short review of the current state-of-the-art of controlling underactuated mechanical systems and discuss some research opportunities and challenges. Then, I will present some of our recent work on the stabilization and tracking of mobile robots and ships. Some unsolved problems will be discussed for the benefits of younger students who want to study in this exciting field.
报告人简介:
（个人主页：//eeweb.poly.edu/faculty/jiang）
Biography of Dr. Zhong-Ping Jiang:
Zhong-Ping JIANG (M’94, SM’02, F’08) received the B.Sc. degree in mathematics from the University of Wuhan, Wuhan, China, in 1988, the M.Sc. degree in statistics from the Universite de Paris-sud, France, in 1989, and the Ph.D. degree in automatic control and mathematics from the Ecole des Mines de Paris, France, in 1993.
From 1993 to 1998, he held visiting researcher positions with various institutions including INRIA (Sophia-Antipolis), France, the Australian National University, the University of Sydney, and University of California. Currently he is a Professor of Electrical and Computer Engineering at the Polytechnic Institute of New York University (formerly called Polytechnic University). His main research interests include stability theory, the theory of robust and adaptive nonlinear control, and their applications to underactuated mechanical systems, congestion control, wireless networks, multi-agent systems and Systems Physiology.
Dr. Jiang has served as a Subject Editor for the International Journal of Robust and Nonlinear Control, and as an Associate Editor for Systems & Control Letters, IEEE Transactions on Automatic Control and European Journal of Control. Dr. Jiang is a recipient of the prestigious Queen Elizabeth II Fellowship Award from the Australian Research Council, the CAREER Award from the U.S. National Science Foundation, and the Young Investigator Award from the NSF of China. He (together with coauthor Yuan Wang) received the Best Theoretic Paper Award at the 2008 World Congress on Intelligent Control and Automation, June 2008, for the paper “A Generalization of the Nonlinear Small-Gain Theorem for Large-Scale Complex Systems”.
Dr. Jiang is a Fellow of the IEEE.
