报告题目:
Constrained Estimation and Control With Applications in Robot Motion Control
报告人:
Dr. He Kong, Research Fellow at the Australian Centre for Field Robotics, The University of Sydney, Australia (澳大利亚悉尼大学-澳大利亚室外机器人研究中心,研究员)
报告时间:
北京时间2021年06月18日(星期五) 下午13:00-15:30
北京时间2021年06月22日(星期二) 下午13:00-15:30
线上报告接入方式:
腾讯会议 (VooV Meeting), 会议 ID:649 379 341
联系人:
苏道毕力格 sudao@cau.edu.cn
欢迎各位老师同学线上参加。
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Seminar Topics:
Constrained Estimation and Control With Applications in Robot Motion Control
International Experts:
Dr. He Kong, Research Fellow at the Australian Centre for Field Robotics, The University of Sydney, Australia
Time:
Beijing Time (UTC +8:00) June 18th, 2021 (Friday) 13:00PM-15:30PM
Beijing Time (UTC +8:00) June 22nd, 2021 (Tuesday) 13:00PM-15:30PM
Online Meeting:
VooV Meeting, Meeting ID:649 379 341
Contact:
Daobilige Su sudao@cau.edu.cn
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摘要(Abstracts):
In practice, constraints are ubiquitous, and pose challenges in controller and estimator design. In this two part lecture, I will try to give the audience an introduction of existing methods of handling constraints and their pros and cons (with focus on estimation). More specifically, I will discuss a popular framework of tackling constraints in a systematic manner, i.e., the moving horizon estimation/control (also called, model predictive control). Implication of constraints and applications of MPC in robot motion control will also be discussed.
Lecture 1
1. Estimation in general
2. Constrained estimation
3. Some case studies
Lecture 2
1. Model predictive control
2. Moving horizon estimation
3. Robot motion control
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简介(Bios):
孔贺,男,中国山东菏泽人,本科、硕士、博士分别毕业于中国矿业大学、哈工大(免试保送,指导教师段广仁教授)、澳大利亚Newcastle大学(指导教师澳大利亚两院院士Graham Goodwin教授)。目前为研究员,就职于悉尼大学机器人与智能系统研究中心(Australian Centre for Field Robotics)、澳大利亚工程院院士Salah Sukkarieh教授课题组。曾获国家励志奖学金、纽卡斯尔大学全额奖学金、哈工大优秀毕业生、IFAC 最佳学生论文提名奖(1st IFAC Workshop on Robot Control)等荣誉。研究兴趣主要集中在基于优化的控制与滤波(Receding horizon control/estimation、Estimation under arbitrary unknown inputs等)、野外机器人(Field robotics)及其在精准农业方面的应用、机器人声音学(Robot audition)等。担任《智慧农业(中英文)》青年编委。