2020 The 6th International Conference on Electrical Engineering, Control and Robotics (EECR)
"Robust Control of Underactuated Mechanical Systems"
Prof. Chun-Yi Su, Concordia
University, Canada 加拿大肯高迪亚大学 苏春翌教授
Chun-Yi Su received his
Ph.D. degrees in control
engineering from South
China University of
Technology in 1990.
After a seven-year stint
at the University of
Victoria, he joined the
Concordia University in
1998, where he is
currently a Professor of
and holds the Concordia
Research Chair in
Control. He has also
held several short-time
including a Chang Jiang
Chair Professorship by
China's Ministry of
Education and JSPS
from Japan, and Qian Ren
Talents Professor from
China. His research
covers control theory
and its applications to
systems, with a focus on
control of systems
nonlinearities. He is
the author or co-author
of over 400
publications, which have
appeared in journals, as
book chapters and in
In addition to his
academic activities, he
has worked extensively
organizations on various
projects. Dr. Su has
been an Associate Editor
of IEEE Transactions on
Automatic Control, IEEE
Transactions on Control
and several other
journals. He has served
as Chair/Co-Chair for
In recent years, there has been great theoretical and practical interest in controlling underactuated mechanical systems. These systems are defined as underactuated because they have more joints than control actuators. Much of this interest is a consequence of the importance of such systems in application. For example, underactuation may arise in free-flying space robots, underwater vehicles without base actuators, legged robots with passive joints, redundant robots with flexible components, and in many other practical applications. Furthermore, when one or more joints of a standard manipulator fail, it becomes an underactuated mechanism and needs a special control algorithm to continue operation; thus the development of a control technique for underactuated systems will increase the reliability and fault-tolerance of current and future robots. Interest in studying underactuated mechanical systems is also motivated by their role as a class of strongly nonlinear systems where complex internal dynamics, nonholonomic behavior, and lack of feedback linearizability are often exhibited. Traditional nonlinear control methods are insufficient in these cases and new approaches must be developed.
In this presentation, an entirely new method is discussed. A robust nonlinear control law is proposed for underactuated mechanical systems in the presence of parameter uncertainties. The development is based on variable structure theory. The main advantage of the presented scheme is that the uncertainty bounds, needed to design the control law and to prove globally asymptotic stability, depend only on the upper bounds of the inertia parameters. These upper bounds can easily be computed making a control law possible for complex underactuated systems. Finally, the real-time application of this algorithm to a specific underactuated robot, Pendubot, is included to demonstrate the control performance.
"Biomimetic Control Design and Human Skill
Transfer for Intelligent Robots"
Prof. Chenguang Yang, South
China University of Technology, China 华南理工大学 杨辰光教授
BIOGRAPHY: Dr Yang
received Ph.D. degree in control engineering from
the National University of Singapore, Singapore, in
2010. He received postdoctoral training at Imperial
College London, UK and was recipient of the EU Marie
Curie International Incoming Fellowship as a named
individual. He is a Senior Member of IEEE and a
Fellow of Higher Education Academy (HEA). He has
made significant contribution to the research on
robot control and human robot interaction, as
evidenced by 2011 King-Sun Fu Best Paper Award of
the IEEE Transactions on Robotics, 2014 World
Congress on Intelligent Control and Automation
(WCICA) Steve and Rosalind Hsia Best Biomedical
Paper Award, 2015 IEEE International Conference on
Information and Automation (ICIA) Best Conference
Paper Award, 2015 International Conference on
Intelligent Robotics and Applications (ICIRA) Best
Conference Paper Award, 2016 International
Conference on Human System Interaction (HSI) Best
Conference Paper Award, 2017 International
Conference on Modeling, Identification and Control
(ICMIC) Best Theory Paper Award, 2017 IEEE
International Conference on Advanced Robotics and
Mechatronics (IEEE ARM) Toshio Fukuda Best
Mechatronics Paper Award, and a number of Best
Student Paper awards received by his students.
In the near future,
robots are expected to co-habit with our human
beings and work closely with us in various fields
and even our daily lives. Unfortunately, most of the
current robot control technologies are designed for
conventional industrial robots which operate behind
safeguarding and for predefined tasks, and thus are
not able to cope with the varying tasks in unknown
dynamic environments. I have therefore developed
human-like adaptive control techniques as well as
highly effective human robot skill transfer
techniques. My work follows the "from human and for
human" principle, i.e., study human motor control
skills, in order to develop better robot controllers
to support human collaborators. My design not only
enable versatile and dexterous robot manipulation
but also make robot providing personalized
assistance to human factors. My investigations not
only create a new cross-disciplinary application
area where physiologists are able to employ their
knowledge and experiences together with roboticists,
but will also have a huge impact on the robotics
community, through in-depth investigations on the
relation between humans and robots.
"The State-of-the-Art of Robotics and Automation in Military Earthworks"
Prof. Quang Ha,
University of Technology Sydney, Australia
BIOGRAPHY: Quang Ha received the B.E. degree from Ho Chi Minh City University of Technology, Vietnam, in 1983, the Ph.D. degree from Moscow Power Engineering Institute, Russia, in 1993, and the Ph.D. degree from the University of Tasmania, Australia, in 1997, all in electrical engineering. He is currently an Associate Professor with School of Electrical and Data Engineering. His research interests include automation, robotics and control systems. Dr Ha is a Senior Member of the IEEE and on the Board of Directors of the International Association of Automation and Robotics in Construction. He has been a Member of the Editorial Board of the IEEE Transactions on Automation Science and Engineering (2009-2013), Automation in Construction, Mathematical Problems in Engineering, Elsevier Heliyon, Journal of Industrial Electronics & Applications, and Journal of Advanced Computational Intelligence and Intelligent Informatics. Quang Ha served as Chairman of several international conferences on automation and intelligent systems. He was the recipient of 14 best paper awards from the IEEE, IAARC and Engineers Australia, including the Sir George Julius Medal in 2015.
The advancement in Robotic and Autonomous Systems (RAS) has brought about a new horizon in construction and infrastructure. There is evidence of the increasing interest in RAS technologies in the civil construction sector being reflected in earthworks for the military applications. In particular, Army or ground-based forces are frequently called upon to conduct earthmoving tasks as part of military operations, tasks which could be partially or fully aided by the employment of RAS technologies. Along with recent advances in the Internet of Things and cyber-physical systems, it is essential to examine the current maturity, technical feasibility, and affordability, as well as the challenges and future directions of the adoption and application of RAS to military earthworks based on such platforms as excavators, bulldozers, loaders, graders and dump trucks. This keynote presents a comprehensive review and provides a contemporary and industry-independent analysis on the state-of-the-art of platform-centric earthmoving automation used in defence, spanning current world’s best practice through to that which is predicted over the coming years.
"Unmanned Aerial Vehicle Flight Controller Development and Directions"
Prof. Alvin Y. Chua, De La Salle University, Philippines
BIOGRAPHY: Dr. Alvin Y. Chua is a Professor and the Chairman of the Mechanical Engineering Department of De La Salle University. He earned his BSME, MSME, and Ph.D. in ME at De La Salle University-Manila. As a scholar under the Department of Science and Technology-Engineering and Science Education Project (DOST-ESEP), he conducted his dissertation research at the University of New South Wales, Australia. He received a special citation for the 2003 NAST-DuPont Talent Search for Young Scientists (Mechanical Engineering). He was also awarded the 2015 Outstanding Student Adviser of the American Society of Mechanical Engineers (ASME). He has published in several journal publications and international conferences like Conference on Decision and Control (CDC), and Advance Intelligent Mechatronics (AIM).
His current research interests are on Mechatronics, and UAV systems. In his Mechatornics research, he was able to work on researches that improved the intelligence of articulated and mobile robot systems. He was also able to apply Mechanttonics to improve the energy generation of renewable energy systems. In his UAV systems research, he dealt with control techniques (e.g. Fuzzy Logic, Kalman Filters) for rotorcrafts (e.g. quadcopter, octocopter) and blimps for improved mobility. Currently, he is working on applying UAV technologies to disaster management and inspection applications. He also received a government grant under DOST-PCIEERD entitled ”Development of a Flight Controller for a Modular UAV”.
Unmanned Aerial Vehicles (UAV) are used in different applications like mapping, monitoring, disaster management, etc. In every UAV system, the flight controller plays an integral part in its performance. A comprehensive review of the different flight controllers available in the market will be discussed together with the control software. As the Philippines is moving towards economic development, different sectors are very interested in the UAV area and it is envisioned that the country would be a leader in UAV technology in the future. Inorder to hasten the development of the UAV technology, the available hardware and software technologies are taken into consideration towards creating a highly flexible system. Finally, the future directions of flight controllers in UAV technology will be explained toward the development of appropriate technologies in unique scenarios.