- Program at a glance
  - Plenary Talks
  - Invited Talks
  - Special Session
  - Workshop & Tutorial
  - Session Time Table
  - List of Digest
- Robot World 2007

• Invited talk I Internal Model Principle: Turn Output Regulation to Stabilization
• Name
Jie Huang
• Affiliation Chinese University of Hong Kong
• Abstract Stabilization and output regulation are two fundamental control problems. The output regulation problem aims to design a feedback controller to achieve asymptotic tracking of a class of reference inputs and rejection of a class of disturbances in an uncertain system while maintaining the internal stability of the closed-loop system. Thus the output regulation problem poses a more challenging problem than the stabilization problem. A distinguished feature of the output regulation problem from other problems dealing with tracking and /or disturbance rejection is that the controller must be able to handle a whole class of reference input and / or disturbance signals that are generated by an autonomous system called exosystem. For over three decades, the output regulation problem has been one of the central control problems. For linear systems, this problem was thoroughly studied in the 1970s and the research on this problem has led to one of the most celebrated linear control technique: internal model principle.

Since the 1990s, the research on the output regulation problem has been focused on nonlinear systems and it has been now recognized that the key issue of solving the nonlinear output regulation problem relies on an innovative extension of the concept of the internal model from linear domain to nonlinear domain. Indeed, the effort for establishing a nonlinear version of internal model started in early 1990s and the concept of internal model has been in the process of constant evolving. This talk will be centred on the evolution of the concept of internal model and will be divided into the following parts. Part 1 is an introduction to the output regulation and internal model design. In Part 2, we give a new characterization of the internal model as follows. First, we define an internal model candidate as any dynamic system attachment of which to the given plant leads to a so-called augmented system with the property that the stabilizability of the augmented system implies the solvability of the output regulation problem of the given plant and the exosystem. An internal model candidate is further called an internal model if it is such that the augmented system is stabilizable. In short, an internal model candidate converts an output regulation problem to a stabilization problem while an internal model further guarantees the solvability of this stabilization problem. In Part 3, we present a set of conditions for the existence of internal model candidates as well as internal models. Part 4 will show some applications of the internal model approach including the synchronization of a chaotic system to a harmonic system, disturbance rejection of the RTAC system which is also known as the nonlinear benchmark control problem, and the adaptive attitude tracking and disturbance rejection of a spacecraft system. Finally, we will close the talk by some remarks and open issues.
• Invited talk II Recent advances in networked control systems
• Name
Zengqi Sun
• Affiliation Tsinghua University
• Abstract Networked control systems (NCSs) are one type of distributed control systems when sensors, actuators, and controllers are interconnected by a shared band-limited digital communication network. The shared network will introduce new issues into the feedback loop, such as time-varying delays and the potential loss of information. The conventional control theories must be re-evaluated before applying to NCSs. Due to the advantages of NCSs in low cost, high utilization, simple installation and great flexibility, etc., NCSs have been an attractive research subject for researchers and important results have been reported.

This presentation is organized in three sections. Section 1 presents a comprehensive overview of the current state of research in the area of NCSs. In general, we will first illustrate some of the problems encountered in NCS, including network-induced delay, packet dropout, sampling period, network constrains and scheduling. Then we will review the modeling and analysis methodologies of NCSs under the effects of the above problems, concentrating in methods and techniques derived and implemented to improve the performance of NCSs.

In Section 2, emphasis will be given to the analysis and controller synthesis of NCSs under effects of network-induced delay and packet dropout. The existing approaches to handle this problem in the literature will be introduced, focusing on the stabilization and the optimization of linear NCSs. Some progress on the control and scheduling co-design for NCSs has also been addressed.

Two proposed methods for the analysis and design of NCSs will be presented in details in Section 3. One is the H? control problem for the NCS based on discrete-time Markovian jump system with norm-bounded uncertainties. The upper and lower bounds of the network induced delay of the NCS are defined by an underlying Markov chain. The NCS is converted to a discrete-time Markovian jump system based on the intervals with norm-bounded uncertainties. The H? state feedback controller is designed in terms of LMI using the stochastic Lyapunov function approach.

The other proposed method is in stabilization of the NCS via cone complementarity linearization approach. A discrete-time switch model is proposed with time delay and packet dropout considered by introducing lifting technique into NCSs. A stability condition is derived for NCSs in terms of linear matrix inequalities (LMIs) by defining delay-dependent Lyapunov function and common quadratic Lyapunov function. The state feedback controller design problem is then solved by exploiting the cone complementarity linearization (CCL) method, together with a sequential minimization problem subject to LMI constraints. The proposed methodology have been applied to the application of networked DC motor servo system and have shown promising results.

This presentation will conclude with a discussion of possible future development of the NCSs from a control perspective.
• Invited talk III Cyberinfrastructure Essential to 21st Century Advances in Science and Engineering Education & Research
• Name
Balan Pillai
• Affiliation Helsinki University of Technology
• Abstract The broad infrastructure considered necessary to capitalize on spectacular advances in information technology has been termed cyberinfrastructure. Cyberinfrastructure integrates hardware for computing, data and networks, digitally-enabled sensors, observatories and experimental facilities; and an interoperable suite of software and middleware services and tools. Scientists and engineers need access to new information technology capabilities; such as circulated wired and wireless observing network complexes; sophisticated simulation tools that permits exploration of phenomena which can never be pragmatic or replicated by experiment. Computation offers new models of performance and modes of scientific discovery that deeply extend the limited choice of models that can be shaped with mathematics alone, for example, chaotic behavior. Smaller amount of researchers working at the frontiers of knowledge can carry out their work without cyberinfrastructure of one form or another. While hardware performance has been exponentially ? with gate density doubling every 18 months; storage capacity every 12 months; and network capacity every 9 months ? it has become clear that more and more capable hardware is not the only prerequisite for computation-enabled discovery.

This Talk would concentrate; on Cyberinfrastructure essential to 21st century advances in Science and Engineering education and researches.
• Invited talk IV Humanoid Robotics
• Name
Kazuhito Yokoi
• Affiliation National Institute of Advanced Industrial Science and Technology (AIST)
• Abstract With a physical form similar to that of a human, humanoid robots can be used as proxies or assistants to perform tasks in a real-world environment on behalf of humans. Various humanoid robots have been developed worldwide, and currently, humanoid robots are able to work in our daily life environment. This talk introduces some of the ongoing research and development of humanoid, and discusses the problems, approaches and applications for the next generation humanoid.
First, the history of humanoid robotics research is introduced. It has been researched by a few research groups in the world since 1970 as a kind of dreamy research target for robotics researchers. However, after "Honda P3", a well-designed humanoid robot which can stably and reliably walk, at the middle of 1990s, it has been recognized as a robot which may be able to be used practically near future and many research groups began to develop the practical humanoid robot. Ministry of Economy, Trade and Industry (METI) launched a 5-year national project, "Humanoid Robot Project (HRP)" in 1998. The objectives of the project were to develop a humanoid which can be used as a research platform to develop its new applications and also show how "the human shape robot" is useful practically with several application examples. As the results, the project developed a new humanoid platform HRP-2 which has open software architecture OpenHRP and several fundamental functions. Also, several application examples have been developed and demonstrated using real humanoid platforms developed in the project. This talk will introduce some important results obtained by the project.
Second, some of the humanoid research activities in National Institute of Advanced Industrial Science and Technology (AIST) and AIST-CNRS Joint Robotics Laboratory (JRL) will be introduced. It includes various research aspects on "humanoid motion control," "humanoid motion planning," "humanoid sensory-motor loop," and "programming and software architecture of humanoid.
" Experimental results of humanoid robot HRP-2 will be reported with videos.
Finally, technical problems to be solved, approaches for further developments, sorts of applications, business models, and a roadmap towards the next generation will be discussed.



Organized by ICROS(Institute of Control, Robotics and Systems)
Bucheon Techno Park 401-1506, 193, Yakdae-Dong, Wonmi-Gu, Bucheon-City, Gyeonggi-Do, 420-734, Korea
Phone : +82-32-234-5801/ Fax : +82-32-234-5807/ E-mail : conference@icros.org