Passivity concepts have been a topic of interest widely in systems and control. In particular, they have provided unified fundamental tools for a variety of robot control problems. In this talk, I shall describe new developments in passivity-based control in robotics; namely in cooperative control of robotic networks and in visual feedback with visual motion observer. First the talk begins with output synchronization for networked robotics, consisting of nonlinear passive dynamics and of rigid body networks on SE(3). Then it focuses on systematic construction of visual motion observer for three-dimensional dynamic motion estimation, which enables us to synthesize visual feedback control. By exploiting passivity concepts further, an emerging topic of human robotic-networks teaming is also examined and discussed. Rich experimental case studies with hands-on robotic testbeds are effectively demonstrated throughout the talk.
Masayuki Fujita is a Professor with the Department of Systems and Control Engineering at Tokyo Institute of Technology. He is also a Research Supervisor for Japan Science and Technology Agency (JST) Core Research for Evolutional Science and Technology (CREST). He received Dr. of Eng. degree in Electrical Engineering from Waseda University, Tokyo, in 1987. Prior to his appointment at Tokyo Tech, he held faculty positions at Kanazawa University and Japan Advanced Institute of Science and Technology. His research interests include passivity-based control in robotics, distributed energy management systems, and robust control. He is the coauthor of the book "Passivity-Based Control and Estimation in Networked Robotics" (Springer). He is a recipient of the 2008 IEEE Transactions on Control Systems Technology Outstanding Paper Award and a Plenary Lecture at the 54th IEEE Conference on Decision and Control in 2015. He also received the SICE Education Award and the Outstanding Paper Awards from SICE and ISCIE. He was the IEEE CSS Vice President Conference Activities, a member of IEEE CSS Board of Governors, and the General Chair of the 2010 IEEE Multi-conference on Systems and Control. He was also the Head of SICE Technical Division on Control, the Chair of SICE Technical Committee on Control Theory, and the Director of SICE. He has served as an Associate Editor for IEEE Transactions on Automatic Control, IEEE Transactions on Control Systems Technology, Automatica, Asian Journal of Control, and an Editor for SICE Journal of Control, Measurement, and System Integration. He is an Fellow of IEEE and SICE.
Distinguished Lecture Program
Talk Title: Passivity-Based Control in Robotics: Networks, Vision and Human
Talk Title: Distributed Energy Management Systems toward Smart Cities: International Research Collaboration
An initiative for Smart Cities has been promoted worldwide as societal-scale CPS (Cyber-Physical Systems) infrastructures. Along with efficient traffic/water/security management, distributed EMS (Energy Management Systems) should play a key role as we head toward low carbon environmental friendly society that is essential for sustainable development. To this goal, JST (Japan Science and Technology Agency) has launched a CREST research area for the distributed EMS building. The aim of this project is to create fundamental theory and advanced technology for optimal control of energy balancing between dynamic demand and supply. The topics covered include forecast and integration of renewable energy, management of electric vehicle/storage, demand response and human behavior, and platform building. A particular emphasis is on the promotion of international research collaboration with the US and European Funding Agencies. This would enable all the researchers involved to catalyze networking and knowledge sharing with a broad array of disciplines. In this talk, the on-going exciting progress of the CREST EMS project is presented.