Intelligent robot system laboratory

The   research focuses of this team include soft robots and the high- performance   electromechanical system control. Control techniques including the modeling   and control of soft robots based on smart material actuators, motion control   of underactuated mechanical systems and electromechanical system control are   studied. This team develops robot control methods with high accuracy and   robustness, and also promotes engineering applications of intelligent robots   and electromechanical systems.

Team Members

Prof. Chunyi Su, Prof. Xuzhi Lai, Prof. Jinhua She, Prof. Yawu Wang

Research   Activities

[1] The   Key Program of the National Natural Science Foundation of China, Modeling and   control techniques of systems preceded by hysteresis nonlinearities

[2] National   Natural Science Foundation of China, Segment control method for planar   second-order nonholonomic systems with a middle joint passive

[3] National   Key R&D Program of China, Performance optimization and engineering   application of industrial robot servo system products

[4] National   Natural Science Foundation of China, Analysis and design of disturbance   rejection for nonlinear control systems based on equivalent-   input-disturbance approach

[5]T   he Young Scientists Fund of National Science Foundation of China, Dynamic   Modeling and Motion Control for Soft Robot using Dielectric Elastomer   Actuator

Major Achievements

Prof. Chunyi   Su

[1] Salim Ibrir, Chunyi   Su. Adaptive stabilization of a class of feedforward nonlinear systems   subject to unknown backlash hysteresis inputs[J]. IEEE Transactions on   Control Systems Technology, 2017, 25(4): 1180-1192.

[2] Sining   Liu, Chunyi Su, Zhi Li. Robust adaptive inverse control of a class of   nonlinear systems with prandtl-ishlinskii hysteresis model[J]. IEEE   Transactions on Automatic Control, 2014, 59(8): 2170-2175.

[3] Chunyi Su,   Qingqing Wang, Xinkai Chen, S. Rakheja. Adaptive variable structure control   of a class of nonlinear systems with unknown Prandtl-Ishlinskii hysteresis[J].   IEEE Transactions on Automatic Control, 2005, 50(12): 2069-2074.

Prof. Xuzhi   Lai

[1] Xuzhi Lai,   Jinhua She, Min Wu. Underactuated mechanical system control [M]. Science   Press,   2013.

[2] Xuzhi Lai,   Pan Zhang, Yawu Wang, Min Wu. Position-posture control of a planar four-link   underactuated manipulator based on genetic algorithm[J]. IEEE Transactions   on Industrial Electronics, 2017, 27 (6): 4781-4791.

[3] Xuzhi Lai,   Yawu Wang, Min Wu, Weihua Cao. Stable control strategy for planar three-link   underactuated mechanical system [J]. IEEE/ASME Transactions on   Mechatronics, 2016, 21(3): 1345-1356.

Prof. Jinhua   She

[1] Gang Huang, Jinhua She, Edwardo Fumihiko Fukushima, Changfan   Zhang, Jing He. Robust Reconstruction of current sensor faults for PMSM   drives in the presence of disturbances [J]. IEEE/ASME Transactions on Mechatronics, 2019, 24 (6):   2919-2930.

[2] Lan   Zhou, Jinhua She, Xianming Zhang, Zhenwei Cao, Zhu Zhang. Performance   enhancement of RCS and application to tracking control of chuck-workpiece   systems   [J].   IEEE Transactions on Industrial Electronics, 2020, 67 (5):   4056-4065.

[3] Jinhua   She, Yasuhiro Ohyama, Min Wu, Hiroshi Hashimoto. Development of electric cart   for improving walking ability---application of control theory to assistive   technology   [J].   Science China Information Sciences, 2017, 60 (12):   123201:1-9.

Assoc Prof.   Yawu Wang

[1] Yawu Wang,   Xuzhi Lai, Pan Zhang, Chunyi Su, Min Wu. A new control method for planar   four-link underactuated manipulator based on intelligence optimization [J]. Nonlinear   Dynamics, 2019，   96(1): 573- 583.

[2] Yawu Wang,   Xuzhi Lai, Pan Zhang, Min Wu. Control strategy based on model reduction and   online intelligent calculation for planar n-link underactuated manipulators   [J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems,   50(3): 1046-1054.