Abstract

Control of underactuated systems is challenging as the systems have lower number of inputs than degrees of freedom. Important systems that fall under this category are crane systems, flexible robot manipulators, and drones. This seminar presents the application of command shaping control for oscillation and vibration control of these systems. Several control structures involving input shaping and command shaping schemes are discussed, including feed-forward technique, hybrid of feed-forward and feedback controllers, and closed-loop command shaping. In addition, the design and implementation of adaptive and robust command shapers for underactuated systems with uncertainties are also presented. Theoretical and experimental investigations on laboratory-scale systems are presented to demonstrate the performance of the controller in reducing system oscillations.

About the Speaker

Dr. Zaharuddin Mohamed received the Ph.D. degree from the University of Sheffield, UK, in Control Systems Engineering in 2003. His research interests include control of mechatronic and underactuated systems, control engineering, robotics, mechatronics, vibration control, and digital twins. He serves as an Editor-in-Chief of Applications of Modelling and Simulation journal, Associate Editor of ISA Transactions, and Associate Editor/Editorial Board Members of several other journals. He is currently Vice President of ASIASIM Federation and an Executive Board Member of the International Society of Mechanical System Dynamics. Currently, Dr. Zaharuddin is a Professor in the Control and Instrumentation Engineering Department at KFUPM.