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Advanced Control Systems and Robotics ELE600

The course deals with feedback control systems, stability analysis, control parameter settings, gain scheduling, cascade control, feed forward control, deadtime compensation and multivariable control. In addition, basic robotic technology, coordinat systems, the Denavit-Hartenberg convension, forward and inverse kinematics, and the use of feedback control for positioning and velocity control of the robotic joints.


Course description for study year 2021-2022. Please note that changes may occur.

Facts
Course code

ELE600

Version

1

Credits (ECTS)

10

Semester tution start

Spring

Number of semesters

1

Exam semester

Spring

Language of instruction

Norwegian

Offered by

Faculty of Science and Technology, Department of Electrical Engineering and Computer Science

Learning outcome

Knowledge:

  • The student will have an extended understanding of the concepts of mathematical modeling and simulation.
  • The student will understand different control structures such as, cascade control, feed forward, deadtime compensation, gain scheduling, multivariable control with linear and nonlinear decoupling, and also other control structures.
  • The student will have knowledge about basic robotics, with focus on use of feedback control for positioning and velocity of robotic joints.
  • The student will understand what makes a robot autonomous.

Skills:

  • The student will be able to make mathematical models for arbitrary processes, both linear and nonlinear.
  • The student will be able to find transfer functions and do frequency analysis.
  • The student will be able to use different control structures (see above) and to tune their parameters in order to control arbitrary processes.
  • The student will be able suggest a suitable control structure for a given process, and be able to list advantages and disadvantages with that control structure.
  • The student will be able to design systems that makes it possible to control the position and velocity of the joints in a robot, both independently and multivariable.

General competence:

  • After this course the student will have an extended understanding of control structures and control systems.
  • The student will have basic understanding of robots and autonomous systems.
Content
The course deals with feedback control systems, stability analysis, control parameter settings, gain scheduling, cascade control, feed forward control, deadtime compensation and multivariable control. The part of the curriculum dealing with robotics includes the following: coordinate systems and homogeneous transformations, forward and inverse kinematics, velocity kinematics (Jacobian) and singularities. More in depth on independent joint control and multivariable control.
Required prerequisite knowledge
One of the following alternatives:
ELE320 Control Systems
BIE240 Control systems
Exam
Form of assessment Weight Duration Marks Aid
Written exam 1/1 4 Hours A - F No printed or written materials are allowed. Approved basic calculator allowed

Coursework requirements
Exercises and lab-assignments

6 compulsory assignments. Mandatory work demands (such as hand in assignments, lab-assignments, projects, etc) must be approved by subject teacher within the specified deadlines.

Completion of mandatory lab assignments are to be made at the times and in the groups that are assigned and published. Absence due to illness or for other reasons must be communicated as soon as possible to the laboratory personnel. One cannot expect that provisions for completion of the lab assignments at other times are made unless prior arrangements with the laboratory personnel have been agreed upon. Failure to complete the assigned labs on time or not having them approved will result in barring from taking the exam of the course.

Course teacher(s)
Course coordinator: Kristian Thorsen
Course teacher: Eivind Sandve Haus
Head of Department: Tom Ryen
Method of work
5-6 hours lectures and 1-3 hour problem solving/simulink (Matlab) per week.
Open for
Robot Technology and Signal Processing - Master's Degree Programme
Course assessment
Form and/or discussion.
Overlapping courses
Course Reduction (SP)
Advanced control systems (MIK140) 6
Literature
The syllabus can be found in Leganto