Seminar: Bowen Yi, 2nd Jul, 1p

When: Thurs 2nd of Jul, 1p

Where: This seminar will be presented online, RSVP here.

Speaker: Bowen Yi

Title: Path Following of Underactuated Mechanical Systems via Energy Shaping

Abstract: In this talk, we aim to provide a new problem formulation of path following for mechanical systems without time parameterization nor guidance laws, namely, we express the control objective as an orbital stabilization problem. It is shown that, it is possible to adapt the immersion and invariance technique to design static state feedback controllers that solve the problem. In particular, we select the target dynamics adopting the recently introduced Mexican sombrero energy assignment method. To demonstrate the effectiveness of the proposed method we apply it to control underactuated marine surface vessels.

Bio: Bowen Yi is now a postdoc in ACFR, hosted by A/Prof. Ian Manchester. He obtained his Ph.D. degree from Shanghai Jiao Tong University, China in 2019. From October 2017 to April 2019, he was a visiting student at Laboratoire des Signaux et Systèmes, CNRS-CentraleSupélec, Paris, France. His research interests involve nonlinear and adaptive control, observer design, system identification, and their applications in practical systems. He received the CCTA Student Best Paper Award from the IEEE Control Systems Society in 2019.


Australian Centre for Robotics