Special Robotics Seminar: Yen-Chen Liu, "Tracking Control of Aerial Robotics"
Friday, August 30, 2019
2164 Martin Hall (DeWalt Seminar Room)
301 405 4358
Special Robotics Seminar
Adaptive Backstepping and Learning Approach for Tracking Control of Aerial Robotics
Department of Mechanical Engineering
National Cheng Kung University, Tainan, Taiwan
Quadrotor systems have been becoming an emerging research topic in the control and robotics communities. However, the requirement of dynamic parameters is still an issue in the design of an effective controller for both stability and tracking performance. In this talk, a backstepping controller is presented for a quadrotor system to follow a predefined trajectory without the knowledge of dynamic parameters in the control algorithms. By decoupling the quadrotor systems into several subsystems, the idea of nominal control input is presented to modify the quadrotor input force and torque. The proposed adaptive backstepping algorithm is subsequently extended for the control of aerial manipulators. The dynamic model, exploited the Euler-Lagrange method for an aerial manipulator, is extremely complicated with a high degree of nonlinearity. Therefore, in the second part of this talk, a decoupled method to control a quadrotor and a robotic arm separately is proposed by utilizing adaptive backstepping control and reinforcement-learning approach. The trained reinforcement learning controller is implemented on a VREP (Virtual Robot Experimentation Platform) with aerial manipulator model for the verification of the proposed method. Numerical examples and experimental results will be illustrated to show the efficiency of the proposed approaches.
Dr. Yen-Chen Liu is an Associate Professor in the Department of Mechanical Engineering at National Cheng Kung University, Tainan, Taiwan. He received the B.S. and M.S. degrees in Mechanical Engineering from National Chiao Tung University, Hsinchu, Taiwan, in 2003 and 2005, respectively. He completed his Ph.D. in Mechanical Engineering at the University of Maryland, College Park, MD under the supervision of Prof. Chopra in 2012. Dr. Liu received Ta-You Wu Memorial Award, Ministry of Science and Technology (MOST) in 2016 and Kwoh-Ting Li Researcher Award, National Cheng Kung University (NCKU) in 2018. He is the recipient of MOST Young Scholar Fellowship for a five-year project (2019 to 2024) to work on control of heterogeneous cyber-physical mobile robot systems. His research interests include bilateral teleoperation system, wireless sensor and mobile robot network, human-swarm interaction, networked mobile manipulators, and control of quadrotor systems.