報(bào)告時(shí)間：2024年1月19日 (星期五) 10:00-12:00

報(bào)告地點(diǎn)：學(xué)術(shù)會(huì)議中心二樓小報(bào)告廳

報(bào) 告 人：王海 教授

舉辦單位：電氣與自動(dòng)化工程學(xué)院

報(bào)告簡介：

During the maize middle and late periods, the soil between rows is soft and also involved with weeds and straw. When the plant protection robot (PPR) moves on the soil, there exists uncertain shear perturbation because of the shear action and pressure subsidence, leading to the difficulty of the controller design. In this work, we propose an adaptive path tracking control (PTC) considering disturbances for the PPR. The disturbance of PRR in contact with soil is first revealed according to Bekker pressure subsidence and Janosi shear models, through which the plant model of PPR system is established. Then, we propose an adaptive fixed-time sliding mode (AFTSM)-based PTC to achieve excellent path tracking performance, where an extreme learning machine (ELM) estimator is developed, releasing the requirement for bound derivations in the control design. Using the fixed-time control and the ELM techniques in the proposed control, a remarkable control performance is well ensured, i.e., high-accuracy tracking, fast convergence, and excellent robustness. Experimental studies on a PPR are executed for demonstrating the validity and good performance of the designed controller.

報(bào)告人簡介：

王海博士（IEEE高級會(huì)員，英國高等教育學(xué)會(huì)會(huì)士）于2014年澳大利亞斯文本科技大學(xué)獲得機(jī)器人與機(jī)電一體化專業(yè)博士學(xué)位，2014-2015于該校任博士后研究員，2015-2019年初于合肥工業(yè)大學(xué)電氣與自動(dòng)化工程學(xué)院任教授（黃山青年學(xué)者）及自動(dòng)化系統(tǒng)副主任。現(xiàn)任澳大利亞莫道克大學(xué)電氣工程終身副教授，智能工業(yè)控制與無人系統(tǒng)工程學(xué)術(shù)主席，先進(jìn)機(jī)器人與無人系統(tǒng)實(shí)驗(yàn)室主任。發(fā)表了120多篇高水平國際期刊論文（包括40余篇IEEE匯刊長文及8篇ESI高被引論文），谷歌學(xué)術(shù)引用4000余次，H指數(shù)為34。現(xiàn)擔(dān)任IEEE Transactions on Emerging Topics in Computing, Robotica, Computers and Electrical Engineering，ASME-Journal of Autonomous Vehicles and Systems, Frontiers in Robotics and AI等國際期刊的副主編、編委及客座主編。2021-2024年擔(dān)任IEEE工業(yè)電子協(xié)會(huì)西澳分部主席、副主席，并榮獲2021及2022年IEEE工業(yè)電子協(xié)會(huì)全球最佳分部獎(jiǎng)。2023年獲莫道克大學(xué)校長研究卓越獎(jiǎng)（早期職業(yè)）。其主要研究方向是滑模控制和觀測器、自適應(yīng)控制、機(jī)器人學(xué)和機(jī)電一體化、神經(jīng)網(wǎng)絡(luò)、非線性系統(tǒng)，無人車輛及系統(tǒng)，工業(yè)4.0及智慧農(nóng)業(yè)等。