Course

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.


Dette er emnebeskrivelsen for studieåret 2015-2016. Merk at det kan komme endringer.

See course description and exam/assesment information for this semester (2024-2025)

Semesters

Fakta

Emnekode

ELE600

Vekting (stp)

10

Semester undervisningsstart

Spring

Undervisningsspråk

Norwegian

Antall semestre

1

Vurderingssemester

Spring

Timeplan

Vis 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 — — —


Vilkår for å gå opp til eksamen/vurdering

Exercises and lab-assignments

Compulsory course attendance that must be completed and approved before access to the laboratory: Electronic Course in Health, Safety and Environment.

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.

Fagperson(er)

Head of Department:

Tom Ryen

Course coordinator:

Kristian Thorsen

Method of work

5-6 hours lectures and 1-3 hour problem solving/simulink (Matlab) per week, in addition to a couple of laboratory assignments. 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

Robot Modeling and Control, (M.W.Spong, S.Hutchinson, M.Vidyasagar)

Process Dynamics and Control, International Student Version, 3rd Edition

(Seborg, Edgar, Mellichamp,Doyle)

Kontakt

Head of Department:

Tom Ryen

Course coordinator:

Kristian Thorsen

Tilbys av

Faculty of Science and Technology

Department of Electrical Engineering and Computer Science

The course description is retrieved from FS (Felles studentsystem). Version 1