MAS602 Advanced Control and Robotics

University of Agder

Contents

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)

Learning outcomes

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.

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