Control Systems for Robotics

Catalog description

In this course, we present approaches for designing controllers for a varied class of robotic systems. We focus on mathematical concepts of linear and nonlinear control theory and how the theory translates to practical robotic applications with emphasis on manipulators, ground, and aerial robots. Topics include inverse kinematics based controllers, trajectory following controllers, non-holonomic robot controllers, artificial potential functions, and model predictive control. Coursework consists of problem sets, programming assignments, critical reading of research papers, and a final project. Prerequisite: If course requirement not met, permission of instructor required.