Description of Workshop
“Nonlinear Output Regulation: The Internal Model Approach”
Time: 9:00-12:00, July 4th
Location: Xiangjiang Room
- Dabo Xu, Nanjing University of Science and Technology
- Xinghu Wang, University of Science and Technology of China
- Youfeng Su, Fuzhou University
- Nonlinear Internal Models: Framework and Design
- Methodological framework
- Constructive nonlinear internal models
- Example: Rigid spacecraft attitude regulation
- Output Regulation of Strict-feedback Nonlinear Systems
- Multi-input multi-output internal model construction
- Auxiliary global robust stabilization with iISS dynamic uncertainties
- Example: Output synchronization of Raleigh and harmonic oscillators
- Cooperative Output Regulation of Heterogeneous Multi-agent Systems
- Distributed internal model approach
- Regulator synthesis for multiple second-order nonlinear systems
- Example: Multiple marine vessels formation
Nonlinear Output Regulation: The Internal Model Approach
Dabo Xu, Nanjing University of Science and Technology
Abstract：Output regulation is a central feedback control problem that aims at addressing asymptotic tracking and/or disturbance rejection, while maintaining stability of the closed-loop system. The popular problem formulation is general enough to cover stabilization, asymptotic tracking, output synchronization, and disturbance rejection as rather special cases. In general, for solving the problem by smooth error-output feedback, every regulator should incorporate an internal model to realize dynamic compensation. Hence, internal model design plays a key role in nonlinear regulator synthesis. It should not only define a steady-state generator, understood as a substitutional model of the system to be regulated, but also facilitate relevant stabilization of the augmented system, composed of the plant dynamics and designed internal model.
The purpose of this pre-conference workshop is to provide an overview of the current status and ongoing research in the field of nonlinear output regulation with a focus on the internal model approach. It introduces recent developments on emerging nonlinear internal model design techniques and applications to global robust output regulation problems. Particularly, it provides a novel analysis on output regulation with nonlinear or uncertain exosystems. It ultimately explores interesting solutions to heterogeneous multi-agent systems control via cooperative output regulation design.
The materials in this tutorial are mainly based on research outcomes on nonlinear output regulation and applications by the authors and their collaborators in recent years.
Time: 14:00-16:00, July 4th
Location: Xiangjiang Room
Catheter Operating Systems with Force Feedback for Medical Applications
Shuxiang Guo, Ph. D, Professor
Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology
Beijing Institute of Technology / Kagawa University; E-mail email@example.com
Remote-controlled vascular interventional robots (RVIRs) are being developed to increase the accuracy of surgical operations and reduce the number of occupational risks sustained by intervening physicians, such as radiation exposure and chronic neck/back pain. However, complex control of the RVIRs improves the doctor’s operation difficulty and reduces the operation efficiency. Furthermore, incomplete sterilization of the RVIRs will increase the risk of infection, or even cause medical accidents.
Our project aims at the development of a novel Catheter Operating Systems with Force Feedback for Medical Applications. The results illustrated that the proposed RVIR has better performance compared with the previous prototype, and preliminarily demonstrated that the proposed RVIR has good safety and reliability and can be used in clinical surgeries. This presentation describes the basic research concepts and some new results in our big project.
Shuxiang Guo (S’93-M’95-SM’03 for IEEE) is a professor of the Institute of Advanced Medical Engineering System, Beijing Institute of Technology. His Ph.D. was obtained at the Nagoya University, Japan (1981). His current research interests include micro robotics and mechatronics, micro robotics system for minimal invasive surgery, micro catheter system, micro pump, and smart material (SMA, ICPF) based on actuators. He has published about 470 refereed journal and conference papers.
Dr. Guo received research awards from the Tokai Section of the Japan Society of Mechanical Engineers (JSME), the Tokai Science and Technology Foundation, and the Best Paper Award of the IS International Conference, Best Paper Award of the 2003 International Conference on Control Science and Technology and Best Conference Paper Award of IEEE ROBIO 2004, IEEE ICAL 2008 , IEEE ICIA 2011 and IEEE ROBIO 2016, respectively. He also received the Chang Jiang Professorship Award from Ministry of Education of China in 2005, and was offered Thousand-Elite-Project in China. He is the founding chair for IEEE International Conference on Mechatronics and Automation. And he is the editor in chief for International Journal of Mechatronics and Automation.
Development of a Novel Upper Limb Rehabilitation Robotic Training System
Jian Guo, Ph. D, Professor
Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory ,
School of Electrical and Electronic Engineering,
Tianjin University of Technology, E-mail: firstname.lastname@example.org
Long-term disabilities of the upper limb affect millions of stroke survivors. This disease mainly causes the loss of limb motion function and related complications, which makes most patients unable to take care of themselves. It not only causes great physical and psychological pressure, but also brings heavy burden to patients’ families and society. A novel upper limb rehabilitation robotic training system are being developed to help patients with upper limb and hand function training.
Our project aims at the development of a novel upper limb rehabilitation robotic training system. The results illustrated that the proposed upper limb rehabilitation robotic training system has better performance, and preliminarily demonstrated that the proposed upper limb rehabilitation robotic training system has good safety and reliability and can be used in rehabilitaion training of upper limb and hand. This presentation describes the basic research concepts and some new results in our project.
Dr. Jian Guo is a professor in School of Electrical and Electronic Engineering, Tianjin University of Technology, Tianjin key laboratory for control theory &applications in complicated system, China. He received the Ph.D degree in intelligent machine system from Kagawa University, Japan, in 2012. His researches on biomedical robots, such as rehablitation robot and wireless microrobots in pipe and robotic catheter systems for biomedical applications. He has published about 50 refereed journal and conference papers in the recent years. Dr. Guo received Best Conference Paper Award of CME 2013 and IEEE ICIA 2014 respectively.