MAS602 Advanced Control and Robotics

Emnet er tilknyttet følgende studieprogram

• Ph.d.-program i teknologi og realfag

Innhold

The course presents a number of selected topics within state-of-the-art in advanced control and robotics research. Emphasis is on multivariable, non-linear systems. The course will contain selected topics from the following list:

• Nonlinear dynamic modelling of robotic systems (Euler-Lagrange, Newton-Euler)

• Independent Joint Control and Multivariable Control of Robots

• Force Control

• Feedback Linearisation

• Variable Structure and Adaptive Control, Sliding Mode Control

• Model Predictive Control (MPC)

• Adaptive Backstepping Techniques

• Multivariable Robust Control (H-Infinity)

• Quantitative Feedback Theory (QFT)

• Linear Matrix Inequalities (LMI)

Læringsutbytte

The learning outcome of the course is insight into current research topics within advanced control systems and robotics. The successful candidate will have knowledge of the state-of-the-art within a number of topics related to analysis and design of multivariable and nonlinear systems.

Undervisnings- og læringsformer

Lectures (8 days). Exercises

Eksamen

Portfolio. Individual assessment. Pass/fail.

Information about the content of the portfolio will be given in Canvas by the start of the semester. There will not be arranged a postponed exam for the portfolio.