报告时间：5月13日（星期四）10:00

报告地点：信息楼7003全讯白菜网310报告厅

腾讯会议（会议ID: 349 714 160）

报 告 人：王海，澳大利亚莫道克大学（Murdoch University，Australia）副教授

报告题目：Modelling and robust control for steer-by-wire vehicles via sliding mode methodologies

内容简介：For automotive steer-by-wire (SbW) systems, system parametric uncertainties, nonlinearities (frictions, etc) and external disturbances (tyre self-aligning torque from road surfaces) exist and greatly make the control design to be quite challenging and difficult. In this talk, the mathematical modelling of the SbW system will be further explored and presented by an equivalent second-order dynamical system. Next, based on the derived simplified model of SbW system, a series of robust control schemes via sliding mode control (SMC) methodologies will be introduced, such that the robustness, good convergence property of steering tracking, and excellent disturbance rejection ability of the closed-loop SbW control system can be well obtained. Further, novel SMC-based yaw stability control schemes including upper and lower controllers are developed for SbW vehicles to improve the vehicle manoeuvrability and yaw stability performance. Hardware-in-the-loop and vehicle platforms are established, where fruitful real-time experiments are presented in support of the remarkable performance and effectiveness of the proposed schemes. Practical concerns surrounding the gaps between academia and industry on this topic are also reported.

报告人简介：Hai Wang (Senior Member, IEEE) received the PhD degree from Swinburne University of Technology (SUT), Australia, in 2014, in robotics and mechatronics engineering. From 2014 to 2015, he was the Postdoc Research Fellow in the Faculty of Sciences, Engineering and Technology, at SUT, Australia. From 2015 to early 2019, he was with the School of Electrical and Automation Engineering at Hefei University of Technology, China, where he served as the Full Professor (Huangshan Young Scholar) and the Deputy Discipline Head of Automation. Hai is currently the Senior Lecturer of Electrical Engineering (tenured), Academic Chair of Instrumentation & Control Engineering and Industrial Computer Systems Engineering, and Director of Advanced Mechatronics, Robotics, and Controls Laboratory, at Murdoch University, Perth, Australia.

He has published 60 peer-reviewed leading international journal papers (including 20+ IEEE Transactions), mostly in the areas of nonlinear control theory and its applications, and robotics & mechatronics. He currently serves as a Section EiC of Actuators, Associate Editor of IEEE Access, ASME-Journal of Autonomous Vehicles and Systems, IET-Energy Conversion and Economics, Guest Editors of Neural Computing and Applications, Computers and Electrical Engineering, etc. He was the Chair of IEEE Industrial Electronics Society Western Australia Chapter in 2020. His research interests are in sliding mode control and observer, adaptive control, robotics and mechatronics, neural networks, nonlinear systems, and autonomous vehicles and systems.