【摘要】The purpose of this talk is to introduce Iterative Learning Control (ILC) Problems and show how these problems can be applied to patients with movement disorders, perhaps resulting from stroke. Stroke affects motor control and typically the command signals from the brain is affected. As a result the affected person is not able to move their arm along a desired trajectory. To remedy this impairment, electrical stimulus is directly applied to the hand muscles to augment the control signals from the brain. In this talk, we show how the additional control stimulus can be learnt iteratively, based on error between the desired and actual trajectories of the motion. A general theory for the ILCs are introduced for Multi Input Multi Output dynamical systems in discrete time. Convergence of the learning scheme has been discussed using Luenberger Observers, Kalman Filters and Parameter Identification based Projection Algorithms.

【报告人简介】Bijoy received the B. Tech and M. Tech degrees in Electrical and Electronics Engg. from BITS Pilani and the Indian Institute of Technology, Kanpur, India, and the Ph.D. degree in Engineering Sciences from the Decision and Control Group of the Division of Applied Sciences, Harvard University, Cambridge, MA, in 1977, 1979 and 1983, respectively. From 1983 to 2007 Bijoy was with the Department of Electrical and Systems Engineering, Washington University, St. Louis, MO, USA, where he was a Professor and Director of the Center for BioCybernetics and Intelligent Systems. Currently he is the Dick and Martha Brooks Regents Professor of Mathematics and Statistics at Texas Tech University, Lubbock, TX, USA. He received the Donald P. Eckmann award in 1988 from the American Automatic Control Council, the Japan Society for the Promotion of Sciences Invitation Fellowship in 1997. He became a Fellow of the IEEE in 2000, and a Fellow of the International Federation on Automatic Control in 2014. Currently he is the IEEE Control Systems Society Representative to the IEEE-USA's Medical Technology Policy Committee. Bijoy had held visiting positions at Tokyo Institute of Technology, Osaka University and Tokyo Denki University, Japan, University of Padova in Italy, Royal Institute of Technology and Institut Mittag-Leffler, Stockholm, Sweden, Yale University, USA, Technical University of Munich, Germany, Chinese Academy of Sciences, China and Indian Institute of Technology, Kharagpur, India. Bijoy's current research interest is in BioMechanics, Cyberphysical Systems and Control Problems in Rehabilitation Engineering.