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Topics in control of underactuated mechanical systems

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Abstract:
Underactuated mechanical systems are often encountered in robotic control. Their control is not only important, but also challenging, as they can not be stabilized by any smooth time-invariant feedback. Hence, they are the most intrinsically nonlinear systems in practical use. This presentation gives an overview of control of systems without drift and then deals with more complicated examples, such that robotic snake and jumping robots. The idea behind is to investigate new types of motion that can be used in, for example rescue missions. This part of the presentation heavily relies on examples. We finish the talk with a discussion on canonical/control forms, their control and conversion to.

Type of Seminar:
Public Seminar
Speaker:
Pavel Prautsch
University of West Bohemia, Pilsen, Czech Republic
Date/Time:
Nov 21, 2003   14:00
Location:

ETH Zentrum, Physikstrasse 3, Building ETL, Room K 25
Contact Person:

Prof. M. Morari
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Biographical Sketch:
Pavel Prautsch is a researcher/lecturer at Dept. of Cybernetics of the University of West Bohemia in Pilsen. He expects to receive his PhD from University of West Bohemia in cooperation with Tokyo Institute of Technology in Japan this December. He has been a visiting researcher at Stuttgart University. His research interests are in nonlinear control, underactuated robotics and optimal control.