講座題目：Adaptive path tracking control of maize plant protection robot via extreme learning machine
主 講 人：澳大利亞莫道克大學王海副教授
講座時間：2023年12月5日（周二）14：00-15：00
講座地點：騰訊會議號（853-838-086）、6號學院樓402
主辦單位：新葡萄8883官網AMG、浙江省2011“數據科學與大數據分析協同創新中心”
摘要：
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.
個人簡介：
王海博士（IEEE高級會員，英國高等教育學會會士）于2014年澳大利亞斯文本科技大學獲得機器人與機電一體化專業博士學位，2014-2015于該校任博士后研究員，2015-2019年初于合肥工業大學電氣與自動化工程學院任教授（黃山青年學者）及自動化系統副主任。現任澳大利亞莫道克大學電氣工程終身副教授，智能工業控制與無人系統工程學術主席，先進機器人與無人系統實驗室主任。發表了120多篇高水平國際期刊論文（包括40余篇IEEE匯刊長文，3篇ESI熱引論文及8篇ESI高被引論文），谷歌學術引用3700余次，H指數為33。現擔任國際SCI期刊IEEE Transactions on Emerging Topics in Computing、Actuators、Robotics、Computers and Electrical Engineering (Elsevier)，ASME-Journal of Autonomous Vehicles and Systems, Frontiers in Robotics and AI等期刊的主題主編、副主編及編委。2020年擔任IEEE工業電子協會西澳分部主席，并榮獲2021年IEEE工業電子協會全球最佳分部獎。2023年獲莫道克大學研究卓越獎（早期職業）。其主要研究方向是滑模控制和觀測器、自適應控制、機器人學和機電一體化、神經網絡、非線性系統，無人車輛及系統，工業4.0及智慧農業等。
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