讲座题目：Adaptive sliding mode path tracking control of agricultural robots via extreme learning machine

讲座时间：2025年1月3日（周五）14:00-15:00

讲座地点：6号学院楼402会议室

主办单位：数据科学学院 浙江省2011“数据科学与大数据分析协同创新中心”

报告摘要：

During the maize middle and late periods, the soil between rows is soft and also involved with weeds and straw. When the plant protection robot (PPR) moves on the soil, there exists uncertain shear perturbation because of the shear action and pressure subsidence,leading to the difficulty of the controller design. In this work, we propose an adaptive path tracking control (PTC) considering disturbances for the PPR. The disturbance of PRR in contact with soil is first revealed according to Bekker pressure subsidence and Janosi shear models, through which the plant model of PPR system is established. Then, we propose an adaptive fixed-time sliding mode(AFTSM)-based PTC to achieve excellent path tracking performance, where an extreme learning machine (ELM) estimator is developed, releasing the requirement for bound derivations in the control design. Using the fixed-time control and the ELM techniques in the proposed control, a remarkable control performance is well ensured, i.e., high-accuracy tracking, fast convergence, and excellent robustness. Experimental studies on a PPR are executed for demonstrating the validity and good performance of the designed controller.

个人简介：

王海，博士后，IEEE 高级会员，英国高等教育学会会士，曾担任合肥工业大学教授（黄山青年学者）。现任澳大利亚莫道克大学终身副教授、校学术委员会委员、先进机器人与无人系统实验室主任。发表140多篇高水平国际期刊论文（包括近50篇 IEEE 汇刊长文，3篇 ESI热引论文及9篇ESI高被引论文），谷歌学术引用5300余次，H 指数为 38。现担任 IEEE Transactions on Vehicular Technology, IEEE Transactions on Emerging Topics in Computing, Robotica, Computers and Electrical Engineering (Elsevier),Frontiers in Robotics and AI 等国际期刊的副主编。曾担任多个国际会议的大会主席、程序委员会主席、组织委员会主席等，现任2024年度IEEE工业电子协会西澳分部主席。荣获 2023年度莫道克大学校长杰出研究奖。主要研究方向是滑模控制和观测器、自适应控制、机器人学和机电一体化、非线性系统，人工智能，无人车辆及系统，工业4.0及智慧农业等。

欢迎感兴趣的师生积极参加！