Course
Advanced Control Systems and Robotics (ELE600)
Dette er emnebeskrivelsen for studieåret 2013-2014. Merk at det kan komme endringer.
Semesters
Fakta
Emnekode
ELE600
Vekting (stp)
10
Semester undervisningsstart
Spring
Undervisningsspråk
Norwegian
Antall semestre
1
Vurderingssemester
Spring
Timeplan
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: Briefly about coordinate systems and homogeneous transformations, forward and inverse kinematics, velocity kinematics (Jacobian) and singularities. More in depth on independent joint control and multivariable control.
Learning outcome
At the end of this course, the student should understand different control structures such as gain scheduling, cascade control, feed forward control, deadtime compensation (Smith predictor), and , multivariable control with linear and nonlinear decoupling. The student should be able to employ these different control structures and tune them for different processes. The students should have some knowledge about the basics of robotic technology in addition to the use of feedback control for positioning and velocity control of the robotic joints.
Forkunnskapskrav
Control systems (BIE240)
Exam
| Form of assessment | Weight | Duration | Marks | Aid | Exam system | Withdrawal deadline | Exam date |
|---|---|---|---|---|---|---|---|
| Written exam | 1/1 | 4 Hours | Letter grades | No printed or written materials are allowed. Approved basic calculator allowed | — | 01.04.2013 | 15.05.2013 |
Vilkår for å gå opp til eksamen/vurdering
Exercises and lab-assignments
Fagperson(er)
Head of Department:
Tom RyenCourse coordinator:
Kristian ThorsenMethod of work
5-6 hours lectures and 1-3 hour problem solving/simulink (Matlab) per week, in addition to a couple of laboratory assignments. Term project Mandatory work demands (such as hand in assignments, lab-assignments, projects, etc) must be approved by subject teacher three weeks ahead of examination date.
Overlapping
| Emne | Reduksjon (SP) |
|---|---|
| Advanced Control Systems and Robotics (ELE600_1) , Advanced control systems (MIK140_2) | 6 |
Åpent for
Master studies at the Faculty of Science and Technology.
Emneevaluering
Form and/or discussion.
Litteratur
Details on literature will be provided on the beginning of the course.
The course description is retrieved from FS (Felles studentsystem). Version 1