Prof. Anton Shiriaev
Department of Engineering Cybernetics Norwegian University of Science and Technology, Trondheim, Norway
DEIB - Seminar Room
November 27th, 2014
2.30 pm
Contact:
Paolo Rocco
Research Line:
Robotics and industrial automation
Abstract
This talk is about motion planning, motion representation and steps in orbital stabilization of motions of mechanical systems, which might be redundant or have one or several passive degrees of freedom. Given a motion, we suggest to search for its representation without explicit time dependence: an evolution of one of degrees of freedom is defined by certain differential equation (a motion generator); while other degrees of freedom are found through relations valid between coordinates on the motion. Such representation of a motion becomes compact and, as shown, it is often useful in analysis of dynamics in vicinity of its orbit and controller design. In particular, we show steps in a feedback control design that are based on construction of a transverse linearization. Roughly speaking, the transverse linearization is a linear system of dimension one less than the nonlinear system such that stabilization of this system is in certain sense equivalent to exponential orbital stabilization of a desired (periodic) motion of the original nonlinear system. The proposed approach is illustrated on popular research benchmark set-ups (the Furuta pendulum, the Acrobot, a pendulum on a cart, a spherical pendulum on a puck) and applications (design stable gaits for bipeds, quadrupeds; analysis of recorded motions of humans). Remarkably, for mechanical systems the transverse linearization of any feasible (forced) orbit, which in general is related to defining moving Poincaré sections, can be introduced analytically. This fact opens a broad range of opportunities
Short Bio
Anton S. Shiriaev received MSc and PhD degrees both in Applied Mathematics from St. Petersburg State University, Russia, in 1993 and 1997 respectively. Since 2006 he is Professor in Automatic Control at the Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway. Anton held (permanent and visiting) positions in a number of universities in Europe, Asia and USA, including Lund and Umea Universities (Sweden), the University of Seville (Spain), the CNRS (France), the Mittag-Leffler Institute of the Royal Swedish Academy of Sciences (Sweden), Universities of Aalborg and Odense (Denmark), the Sungkyunkwan University, Suwon (Republic of Korea), the Tokyo Institute of Technology (Japan), Russian Academy of Sciences (St. Petersburg) and University of Texas at Dallas (USA). He has published more than 140 scientific papers on subjects of systems and control theory, robotics and mechatronics. His research activities have been supported by the Swedish, Danish and Norwegian Research Councils, as well as private companies (SveaSkog AB, Komatsu Forest AB). Professor Shiriaev has been the leader of several grants of the Russian Ministry of Education supporting collaboration with Russian research institutes.
