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{{DISPLAYTITLE:Control of Mobile Robots}}
 
{{DISPLAYTITLE:Control of Mobile Robots}}
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This course aims at giving to participants all the mathematical tools required in the analysis and design of control systems, together with the basics on technological aspects related to their realization.
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The aim of this course is to introduce the student to the fundamental aspects of modelling, planning and control for mobile and autonomous robots, and mobile manipulators.
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A classic mechatronic problem, i.e., the design of a motion control system, is used as a case study to show a realistic application of these tools.
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The first part of the course deals with the basics on systems theory for continuous time and discrete time systems, and introduces the control system design problem, focusing on the tools required to analyze stability and performance of feedback control systems. Time domain and frequency domain design approaches are then introduced. The indirect digital controller design problem, i.e., the transformation of a continuous time control system into a digital one, closes this part.
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The course covers the main aspects of mobile robotics and mobile manipulation, making reference to indoor, outdoor and off-road environments. Classical and modern planning and control techniques are introduced.
  
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The second part of the course presents an application of frequency and time domain control methodologies to a mechatronic problem, i.e., motion planning and control of a servomechanism, and introduces the basics on technological aspects related to the realization of control systems. In particular, hardware technologies, related to conditioning, filtering, analog-to-digital and digital-to-analog conversion, and software technologies, related to control system design, communication networks and Programmable Logic Controllers (PLCs), are discussed.
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At the end of the course, a case study is presented to show the application of planning and control methodologies to a realistic problem.
  
 
=== Lecture timetable ===
 
=== Lecture timetable ===

Revision as of 09:34, 31 August 2018

The aim of this course is to introduce the student to the fundamental aspects of modelling, planning and control for mobile and autonomous robots, and mobile manipulators.

The course covers the main aspects of mobile robotics and mobile manipulation, making reference to indoor, outdoor and off-road environments. Classical and modern planning and control techniques are introduced.

At the end of the course, a case study is presented to show the application of planning and control methodologies to a realistic problem.

Lecture timetable

The course is composed by a blending of lectures by the course teacher, and exercises and laboratories by a teaching assistant.

Lecture Monday 15.15-18.15 B2.2.15
Tuesday 15.15-18.15 BL.27.14
Wednesday 15.15-18.15 L.02
Laboratory Tuesday 15.15-17.15 CS.02

A detailed schedule of laboratories can be found here (days are correct up to some last minute change I will notify you by email):

  • Laboratory 1: October 24, 2017
  • Laboratory 2: November 7, 2017
  • Laboratory 3: November 21, 2017
  • Laboratory 4: November 28, 2017
  • Laboratory 5: December 5, 2017

Teaching material

Lectures

  1. Course introduction
  2. Systems theory overview (continuous time systems)
  3. Frequency domain design
  4. Root locus
  5. State space design
  6. Systems theory overview (discrete time systems)
  7. Digital control systems
  8. Motion planning
  9. Motion control (standard control techniques)
  10. Motion control (advanced control techniques)
  11. Industrial robotics
  12. Control system technologies for automation (Conditioning, filtering, A/D and D/A conversion)
  13. Control system technologies for automation (Control system design, communication systems, Programmable Logic Controllers)

Exercises

  1. Time domain analysis of dynamical systems
  2. Time responses of first/second order systems
  3. Stability and performance analysis of closed-loop systems
  4. Frequency domain design
  5. Root locus and pole placement design
  6. Discrete time systems and digital control design
  7. Hardware technologies for automation
  8. Final exam example

Laboratories

  1. Closed-loop systems (exercises, solutions)
  2. Pole placement (exercises, solutions)
  3. Discrete time systems and digital control (exercises, solutions)
  4. Motion control techniques (exercises, solutions)
  5. Advanced motion control techniques (exercises, solutions)

Project

Past exams

2015/2016 February, March, July, September (I), September (II)
2016/2017 February, March, July (I), July (II), September
2017/2018 January, February, June, July, September

Office hours

See "Professor's activities" page on www.polimi.it.

Please, always send me an email before coming to an office hour, or to arrange a meeting outside office hours.

Online resources

The following are links to online sources which might be useful to complement the material above

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