Topic: Autonomous Vehicles
Contents
Chair
Assoc. Prof. Bo Li
Institute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai, China.
Bo Li is currently an Associate Professor with Shanghai Maritime University, Shanghai, China. He has authored or co-authored more than 20 papers in journals and conferences, such as IEEE Transactions on Aerospace and Electronic Systems, AIAA Journal of Guidance, Control, and Dynamics. His current research interests include spacecraft attitude control, fault diagnosis, fault-tolerant control and control allocation. Additionally, he hosts one program funding by National Natural Science Foundation of China, Attitude Fault Tolerant Control and Closed-loop Control Allocation for Satellite with Actuator Failure, and participates in other five programs.
Speaker(s)
Prof. Ning Wang
Center for Intelligent Marine Vehicles, School of Marine Engineering, Dalian Maritime University, Dalian, Liaoning, China.
Topic: Visual Servo Control of Unmanned Surface Vehicles
Subject to completely unknown model information of an unmanned surface vehicle (USV), three problems including stabilization control, trajectory-tracking control, and swarming control in GPS-denied environments, are solved by the visual-servo strategies in my research. Firstly, the visual-servo stabilization system of the USV is readily established by decomposing homography, resulting in the unmatched visual uncertainties arisen from inherently unknown image depth. Secondly, the active vision is deployed to allow the USV to track the desired trajectory around the visual target. Finally, a novel visual-servo swarming mechanism embodying the aggregation, separation, consensus, and visibility maintenance rules, is deliberately created based on the line-of-sight ranges and angles, whereby a swarm of USVs can cooperate with a manned surface vehicle to emerge more flexible swarming behaviors.
Ning Wang is currently the Professor at Dalian Maritime University, China, the young top-notch talent of the National High-Level Talent Program, winner of the Youth Science and Technology Award in Liaoning Province, winner of the first Young Science and Technology Award of the China Institute of Navigation, selected as IET Fellow, ISCM Fellow, and Clarivate Global Highly Cited Scientist, Chinese Highly Cited Scholar of Elsevier, top 2% top scientists in the world, outstanding scientific and technological youth in the national marine field, leading young and middle-aged scientific and technological innovation talents of the Ministry of Transport, top ten talents in Liaoning Province; won the first prize of China Ocean Engineering Science and Technology 2 items, the second prize of Liaoning Provincial Natural Science Award, the first prize of Liaoning Provincial Technology Invention Award. His research interests include intelligent green ships, unmanned boats and marine robots, and marine artificial intelligence technology.
Prof. Zhaojing Wu
School of Mathematics and Information Science, Yantai University, Yantai, Shandong, China.
Topic: Pulse width modulation control for stochastic Lagrange systems
The problem of pulse width modulation (PWM) control of Lagrange system driven by servo motor in stochastic environment is researched in this paper. As preliminaries, by using the tools of stochastic analysis, the PWM control principle of stochastic nonlinear systems is proved, a smooth control of stochastic Lagrange system bounded in probability is designed, and the stochastic closed-loop nonlinear programming is modeled in the same form as that in the deterministic case. Boundedness of the control is added to the smooth control designed as a hard constraint, and the stochastic QP problem is presented for which an analytic solution is constructed by verifying the KKT condition, and the expression of the optimal duty ratio is obtained. Finally, the main procedures of design and implementation of the stochastic PWM are summarized, and the effectiveness of the proposed scheme is verified by simulations on anthropomorphic manipulator.
- Time (Beijing, UTC+8)
- Speakers
- Topics
- 3:00-3:10 PM
- Bo Li
- Welcome Remarks
- 3:10-3:40 PM
- Ning Wang
- Visual Servo Control of Unmanned Surface Vehicles
- 3:40-4:10 PM
- Zhaojing Wu
- Pulse width modulation control for stochastic Lagrange systems
- 4:10-4:30 PM
- All
- Discussion (Q&A)
