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 course builds on control engineering from the bachelor level and introduces more advanced methods for analysis and design of control systems. In addition, basic robotic technology, coordinate systems, the Denavit-Hartenberg convention, forward and inverse kinematics, and the use of feedback control for positioning and velocity control of robotic joints.
Course description for study year 2023-2024. Please note that changes may occur.
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 students will learn both state-space and transfer-function based approaches. 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.
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, state feedback, 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 how rotational matrices and homogeneous transforms are used to describe the rigid motion of a robotic manipulator.
The student will understand what makes a robot autonomous.
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 make mathematical descriptions of a robotic manipulator and to use these descriptions to find the forward and inverse kinematic equations of the manipulator.
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.
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.
Required prerequisite knowledge
One of the following alternatives: ELE320 Control Systems BIE240 Control systems
Form of assessment
No printed or written materials are allowed. Approved basic calculator allowed
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.
There must be an early dialogue between the course coordinator, the student representative and the students. The purpose is feedback from the students for changes and adjustments in the course for the current semester.In addition, a digital course evaluation must be carried out at least every three years. Its purpose is to gather the students experiences with the course.