At the Control Theory, Robotics, and Learning, we conduct study in the following areas:
At the Control Theory, Robotics, and Learning, we conduct study in the following areas:
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Control Theory
Control Theory
We are interested in developing mathematical control theories to solve various difficult problems of control systems, such as stabilization, optimization, and so on. With such a development, we are expected to achieve good performance for practical systems. The detailed research topics considered in the Control Theory & Robotics Laboratory are as follows (but not limited to):
We are interested in developing mathematical control theories to solve various difficult problems of control systems, such as stabilization, optimization, and so on. With such a development, we are expected to achieve good performance for practical systems. The detailed research topics considered in the Control Theory & Robotics Laboratory are as follows (but not limited to):
- Networked control systems
1) Stability analysis for time-delay in networked control systems
1) Stability analysis for time-delay in networked control systems
2) Stabilization for time-delay in networked control systems
2) Stabilization for time-delay in networked control systems
- Hybrid continuous/discrete-time systems (i.e., sampled-data systems)
1) Performance analysis and optimal controller design for persistent disturbances
1) Performance analysis and optimal controller design for persistent disturbances
2) Performance analysis and optimal controller design for impulsive disturbances
2) Performance analysis and optimal controller design for impulsive disturbances
- Digital redesign of analogue controllers
1) Frequency-domain based redesign scheme
1) Frequency-domain based redesign scheme
2) Time-domain based redesign scheme
2) Time-domain based redesign scheme
Control Applications
Control Applications
We also aim at providing practical and effective control solutions to the real systems such as robot manipulators, humanoids, and so on. Through such solutions, we are expected to achieve stability and optimality of the real control systems. The detailed research topics tackled in the Control Theory & Robotics Laboratory are as follows (but not limited to):
We also aim at providing practical and effective control solutions to the real systems such as robot manipulators, humanoids, and so on. Through such solutions, we are expected to achieve stability and optimality of the real control systems. The detailed research topics tackled in the Control Theory & Robotics Laboratory are as follows (but not limited to):
- Robot manipulators
1) Optimal control for dexterous manipulation (e.g., industrial robots)
1) Optimal control for dexterous manipulation (e.g., industrial robots)
2) Robust control for stable human-robot interaction (e.g., haptics)
2) Robust control for stable human-robot interaction (e.g., haptics)
- Humanoids
1) Balance control of humanoids for various postures (e.g., seesaw)
1) Balance control of humanoids for various postures (e.g., seesaw)
2) Walking control of humanoids for various terrains (e.g., pebbles)
2) Walking control of humanoids for various terrains (e.g., pebbles)
- Cyber-physical systems
1) Stable tele-operation systems (e.g., surgical robots)
1) Stable tele-operation systems (e.g., surgical robots)
2) Cyber security for adversarial attacks (e.g., power network systems)
2) Cyber security for adversarial attacks (e.g., power network systems)
Robot Manipulator
Robot Manipulator
Mobile Manipulator
Mobile Manipulator
Quanser Aero &Inverted Pendulum
Quanser Aero &Inverted Pendulum
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