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In this
talk we will give an overview on some recent ideas on the nonlinear control of
Lagrangian and Hamiltonian mechanical systems. We will stress the fundamental
importance of both energy/passivity methods and hybrid/switching control for
this class of systems. There are many control problems for mechanical systems
that are difficult to pose as regulation or tracking problems and for which
linear methods are inadequate, for example in problems involving unilateral
constraints and impacts, such as bipedal locomotion. In these applications it
may be more natural to control the energy, which is strongly related to the
concept of passivity, rather than track trajectories. We will show that
switching control in conjunction with passivity methods, provides an attractive
approach for controlling complex nonlinear mechanical systems. We will discuss
the application of these ideas in the control of impacts, bipedal locomotion,
robot gymnastics, and a novel air hockey playing robot and show some
interconnections among these applications. Both theoretical and experimental
results will be presented and a video will be shown: Impact Mechanics and
Robot Air Hockey.
Mark W. Spong is Professor of General Engineering and Research Professor in the
Coordinated Science Laboratory at the University of Illinois at
Urbana-Champaign. He received the D.Sc. degree in Systems Science and
Mathematics from Washington University in St. Louis. He has held visiting
positions at the University of Waterloo, Canada, the CINVESTAV del IPN, Mexico
City, The Lund Institute of Technology, Sweden, The Laboratoire d'Automatique de
Grenoble, France, The Universite de Tecnologie de Compiegne, France, the
Katholiek Universitet, Leuven, Belgium, The National University of Singapore,
and the Technical University of Munich. Dr. Spong's main research interests are
in robotics, mechatronics, and nonlinear control theory. He has published over
150 technical articles and is co-author of two books. He is past Editor-in-Chief
of the IEEE Transactions on Control Systems Technology and is currently Vice
President for Publication Activities of the IEEE Control Systems Society and a
member of its Board of Governors. In addition, he is founder and President of
Mechatronic Systems, Inc. He is a Fellow of the IEEE and a member of Phi Beta
Kappa. He received the Senior Scientist Research Award from the Alexander von
Humboldt Foundation, Bonn, Germany, in 1999, and the IEEE 3rd Millennium Medal
in 2000.
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