自主气球机器人的动力学及控制

特邀专家：张福民 教授

讲座时间：2026年6月24日 10点

讲座地点：立人楼105教室

主讲人简介：张福民，电气电子工程师学会会士（IEEE Fellow），香港科技大学郑家纯机器人研究院讲座教授兼院长。 2004 年在马里兰大学（帕克分校）获得电气工程博士学位， 2004 年至 2007 年在普林斯顿大学担任博士后。研究方向包括移动传感器网络、海洋机器人、控制系统以及信息物理系统的理论基础。 2009 年 9 月获得美国国家科学基金会 CAREER 奖，2010 年 4 月获得美国海军研究局青年 investigator 计划奖。目前担任 IEEE 机器人与自动化协会海洋机器人技术委员会联合主席，以及《IEEE 自动控制汇刊》《IEEE 网络系统控制汇刊》《IEEE 海洋工程期刊》和《国际机器人研究期刊》的副主编。

讲座内容：Significant recent advances in unmanned aerial vehicles calls for convenient platforms to support experiments and demonstrations. Unmanned aerial vehicles such as quad-rotors and multi-copters have become popular for this purpose.  However, the indoor usage of these unmanned aerial vehicles (UAVs)  is limited by flight duration per battery charge (typically less than 20 minutes) and  safety concerns to humans sharing the same physical space.  Safety nets or cages provide protection, but sacrifice the potential for human robot interaction experiments. We develop the Miniature Autonomous Blimp (MAB) as flying vehicles for indoor experiments that support safe-interaction between human and robot swarm.  The MAB  has relatively long flight duration up to two hours per battery charge. Furthermore, the blimps are naturally cushioned and do not cause any pain when collide with human. It offers a fun experience that often encourage physical contacts with humans. We have developed vision-based feedback control laws that enable the MAB to detect and track humans. We will report recent progress made on the modeling and control of the MAB. Advanced control techniques achieve more stable flights and more agile motion that enable new applications for the MAB.