报告摘要：A unified controller of trajectory tracking and set-point regulation/stabilization of nonholonomic wheeled mobile robots is designed by using the hierarchical idea popular in unmanned aerial vehicles. As preliminary, a smooth function for solving the argument of a rotating vector is obtained by switching between discontinuous functions, which motivates the definition of a novel function atan3. The hierarchical control is introduced to wheeled mobile robot, which includes of attitude planner based on atan3, nominal full-actuated position control, and planner-based attitude control, such that the exponential stability of the closed-loop system is achieved. It is easy to be extended to the control of WMR with unknown parameters and disturbances. The simulation results demonstrate the efficiency of the control scheme and the necessity of introducing function atan3.

报告人简介：吴昭景,烟台大学教授(二级),博士生导师。1991年毕业于济宁师专数学系,于2003年曲阜师范大学获运筹学与控制论专业硕士学位,于2005年东北大学控制理论与控制工程专业,获得博士学位。 研究兴趣包括随机非线性系统的建模,稳定与控制,机器人系统与无人机系统的控制。 在控制理论国际顶尖期刊《IEEE Transactions on Automatic Control》和《Automatica》发表论文22篇(长文4篇)。出版教材2部,先后主持国家自然科学基金面上项目4项,获省部级自然科学奖二等奖2项,是享受国务院政府津贴专家,山东省泰山学者特聘专家,山东省有突出贡献专家,山东省黄大年式教师团队带头人,获得山东省教书育人楷模,山东省优秀教师和山东省先进工作者奖励。

报告时间：2025年4月12日 14:00-15:00

报告地点：北衡楼1421