Prof. Spandan Roy gave a talk on September 4th, 2020 in our group about “Adaptive Control of Euler-Lagrange Systems via Artificial Delay: Theory and Applications”

Biography (简介)

Spandan Roy received the B.Tech degree in Electronics and Communication Engineering from Techno India (Salt Lake), West Bengal University of Technology, India in 2011, the M.Tech. degree in Mechatronics from Academy of Scientific and Innovative Research (AcSIR), India in 2013 and Ph.D. degree in Control and Automation from Indian Institute of Technology Delhi (IITD), India in 2018.
He was a Scientist Trainee from 2013 to 2014 at CSIR-Central Mechanical Engineering Research Institute, India. He is currently an assistant professor at the Robotics Research Center, International Institute of Information Technology Hyderabad, India. Previously, he was a postdoctoral researcher in Delft Center for System and Control, Delft University of Technology, The Netherlands. His research interests include adaptive-robust control, switched systems and its applications in Euler-Lagrange systems and Robotics.

Abstract

This talk will present how to design adaptive control for Euler-Lagrange Systems via artificial introduction of a time delay, often referred to as time-delay estimation (TDE). Compared to the conventional adaptive controllers, the main feature of this method is to compensate for the uncertainties without a priori knowledge of their structure and bounds. Being primarily built for Euler-Lagrange systems, TDE based designs have found applications in various fields such as
robotic manipulator, unmanned aerial and ground vehicles, humanoids, smart actuators to name a few. During the talk, some real-life multiple-degrees-of-freedom robotic applications will be shown where adaptive TDE designs have been successfully implemented.