Research
Understanding and control of complex dynamic systems is of crucial importance in many branches of science, engineering and industry. The ushering in of the big-data era, ably supported by exponential advances in computation ability, has provided new potential to revolutionize the modelling, sensing and control of such complex interactive dynamics. Our lab particularly interested in the dynamic agent that interacting with each other and their fluidic environment, such as quadrotor and robotic fish.
Control Engineering
Hydrodynamic-Interactive Systems
Robotic fish has gained substantial attention in robotics field in past decades due to their unique benefits, including concealment, flexibility, and energy efficiency. Notable advancements have been achieved in various aspects of this domain, including the realm of electromechanical construction underwater perception and control However, the problem of dynamic modelling for the robotic fish, although plays a crucial role in motion planning and control, remains unsolved and challenging due to its inherently high-dimensional and non-linear nature, particularly when operating in complicated environments with background flow.
Aerodynamic-Interactive Robotic Systems
In contemporary times, Unmanned Aerial Vehicles (UAVs) play a crucial role in various scenarios. Particularly, UAVs have proven to be highly valuable when employed in various specialized tasks such as search and rescue operations, survey missions, and environmental monitoring. One critical aspect among these is ensuring the safe near ground flight of UAVs. Aside from the UAV’s nonlinear characteristics and limited platform size, the intricate interactions between rotor airflow and the ground may result in flight instability or even catastrophic failure. This phenomenon, known as the Ground Effect (GE), poses a great challenge that must be addressed to achieve safe near-ground maneuver including autonomous landings on vertical oscillating platforms.
AcousticField-Interactive System
The active control of noises or disturbances has achieved great success in modern robotics, industrial processes, and automation systems. As a promising technique, active noise control (ANC) aims to mitigate unwanted noises by virtue of generating anti-noise sound waves that destructively interfere with coming-forth unwanted sound noises.
Theoretical Works
Output Regulation (Disturbance Rejection)
IM-based Solution (IFAC2023)
UIO-based Solution (IFAC2023)
ILC-Embedded MRAC (CDC2024)
ILC with output Constraints(IFAC2023)
Formation Control (ACC2023)
Formation Control (ROBIO2023)
