Underactuated Crane Control System Design and Development

Speaker: Professor Yongchun Fang

Faculty host: Professor Zhong-Ping Jiang

Abstracat
An underactuated system has been a research focus within the controland robotics community. This talk will introduce the most recentresearch results on underactuated overhead cranes. That is, for anoverhead crane whose transient performance is of much importance, some advanced control strategies, including Motion-Planning Based Control,Transportation Task-Oriented Planning, Switching-Based Emergency Braking Control, and so on, will be presented to show how these strategies can position the cart accurately, and simultaneously suppress the payload swing efficiently.

About the Speaker
Dr. Yongchun Fang is a distinguished professor at Nankai University with research interests on underactuated systems control, visual servoing, and so on. Dr. Fang received the B.S. degree in electrical engineering and the M.S. degree in control theory and application, both from Zhejiang University, P. R. China, in 1996 and 1999, respectively, and the Ph.D. degree in electrical engineering from Clemson University, SC, USA in 2002. From 2002 to 2003, he was a Postdoctoral Fellow at the Mechanical and Aerospace Engineering Department, Cornell University. Since 2003, he has been a professor at the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, P. R. China. His current research interests include control of underactuated systems including overhead cranes, AFM-based nano-manipulation, visual servoing.

Dr. Fang is a senior member of IEEE, a director of Chinese Association for Artificial Intelligence, a vice board chairman for Tianjin Society of Image and Graphics, a member of the Technical Committee on Control Theory and a member of the Technical Committee on Intelligent Automation.