From Luca Bascetta
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(Created page with "{{DISPLAYTITLE:Control of Mobile Robots}} This course aims at giving to participants all the mathematical tools required in the analysis and design of control systems, togethe...")
 
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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.
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The course can be taken as a standalone 5 credits course or as a module of the integrated course Control of industrial and mobile robots, together with [http://home.deib.polimi.it/rocco/cir/index.html Control of industrial robots].
  
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=== Lecture timetable ===
 
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The course is composed by a blending of lectures by the course teacher, and exercises and laboratories by a teaching assistant.
 
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  {| class="wikitable"
 
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  |-
 
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  |rowspan="3"|Lecture
 
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  |Monday
 
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  |15.15-18.15
 
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  |B2.2.15
 
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  |-
 
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  |Tuesday
 
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  |15.15-18.15
 
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  |BL.27.14
 
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  |-
 
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  |Wednesday
 
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  |15.15-18.15
 
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  |L.02
 
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  |-
 
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  |Laboratory
 
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  |Tuesday
 
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  |15.15-17.15
 
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  |CS.02
 
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  |-
 
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  |}
 
  
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A detailed schedule of laboratories can be found here (days are correct up to some last minute change I will notify you by email):
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=== Lecture timetable ===
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* Laboratory 1: October 24, 2017
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The course is composed by a blending of lectures by the course teacher, and exercises by a teaching assistant.
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* Laboratory 2: November 7, 2017
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See the official time table on Polimi website.
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* Laboratory 3: November 21, 2017
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* Laboratory 4: November 28, 2017
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* Laboratory 5: December 5, 2017
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=== Teaching material ===
 
=== Teaching material ===
 
==== Lectures ====
 
==== Lectures ====
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<!--# Course introduction-->
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See WeBeep channel.
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# [[media:CONTAUT_MEC-Lect1.pdf|Course introduction]]
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<!--# Systems theory overview (continuous time systems)-->
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# [[media:CONTAUT_MEC-Lect2.pdf|Systems theory overview (continuous time systems)]]
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<!--# Frequency domain design-->
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# [[media:CONTAUT_MEC-Lect3.pdf|Frequency domain design]]
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<!--# Root locus-->
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# [[media:CONTAUT_MEC-Lect4.pdf|Root locus]]
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<!--# State space design-->
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# [[media:CONTAUT_MEC-Lect5.pdf|State space design]]
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<!--# Systems theory overview (discrete time systems)-->
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# [[media:CONTAUT_MEC-Lect6.pdf|Systems theory overview (discrete time systems)]]
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<!--# Digital control systems-->
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# [[media:CONTAUT_MEC-Lect7.pdf|Digital control systems]]
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<!--# Motion planning-->
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# [[media:CONTAUT_MEC-Lect8.pdf|Motion planning]]
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<!--# Motion control (standard control techniques)-->
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# [[media:CONTAUT_MEC-Lect9.pdf|Motion control (standard control techniques)]]
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<!--# Motion control (advanced control techniques)-->
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# [[media:CONTAUT_MEC-Lect10.pdf|Motion control (advanced control techniques)]]
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<!--# Industrial robotics-->
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# [[media:CONTAUT_MEC-Lect11.pdf|Industrial robotics]]
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<!--# Control system technologies for automation (Conditioning, filtering, A/D and D/A conversion)-->
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# [[media:CONTAUT_MEC-Lect12.pdf|Control system technologies for automation (Conditioning, filtering, A/D and D/A conversion)]]
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<!--# Control system technologies for automation (Control system design, communication systems, Programmable Logic Controllers)-->
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# [[media:CONTAUT_MEC-Lect13.pdf|Control system technologies for automation (Control system design, communication systems, Programmable Logic Controllers)]]
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==== Exercises ====
 
==== Exercises ====
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<!--# Time domain analysis of dynamical systems-->
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See WeBeep channel.
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# [[media:CONTAUT_MEC-Ex1.pdf|Time domain analysis of dynamical systems]]
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<!--# Time responses of first/second order systems-->
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# [[media:CONTAUT_MEC-Ex2.pdf|Time responses of first/second order systems]]
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<!--# Stability and performance analysis of closed-loop systems-->
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# [[media:CONTAUT_MEC-Ex3.pdf|Stability and performance analysis of closed-loop systems]]
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<!--# Frequency domain design-->
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# [[media:CONTAUT_MEC-Ex4.pdf|Frequency domain design]]
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<!--# Root locus and pole placement design-->
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# [[media:CONTAUT_MEC-Ex5.pdf|Root locus and pole placement design]]
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<!--# Discrete time systems and digital control design-->
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# [[media:CONTAUT_MEC-Ex6.pdf|Discrete time systems and digital control design]]
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<!--# Hardware technologies for automation-->
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# [[media:CONTAUT_MEC-Ex7.pdf|Hardware technologies for automation]]
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<!--# Final exam example-->
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# [[media:CONTAUT_MEC-Ex8.pdf|Final exam example]]
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==== Laboratories ====
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==== Labs ====
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<!--# Closed-loop systems (exercises, solutions)-->
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See WeBeep channel.
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# Closed-loop systems ([[media:CONTAUT_MEC-Labo1.pdf|exercises]], [[media:CONTAUT_MEC-Labo1.zip|solutions]])
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<!--# Pole placement (exercises, solutions)-->
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# Pole placement ([[media:CONTAUT_MEC-Labo2.pdf|exercises]], [[media:CONTAUT_MEC-Labo2.zip|solutions]])
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<!--# Discrete time systems and digital control (exercises, solutions)-->
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# Discrete time systems and digital control ([[media:CONTAUT_MEC-Labo3.pdf|exercises]], [[media:CONTAUT_MEC-Labo3.zip|solutions]])
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<!--# Motion control techniques (exercises, solutions)-->
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# Motion control techniques ([[media:CONTAUT_MEC-Labo4.pdf|exercises]], [[media:CONTAUT_MEC-Labo4.zip|solutions]])
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<!--# Advanced motion control techniques (exercises, solutions)-->
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# Advanced motion control techniques ([[media:CONTAUT_MEC-Labo5.pdf|exercises]], [[media:CONTAUT_MEC-Labo5.zip|solutions]])
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==== Project ====
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=== Past exams (Control of Mobile Robots) ===
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* [[media:CONTAUT_MEC-project2015.pdf|Control of a Mobile Inverted Pendulum (project 2015/2016)]]
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See WeBeep channel.
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* [[media:CONTAUT_MEC-project2016.pdf|Control of a laboratory thermal process (project 2016/2017)]]
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=== Past exams ===
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=== Past exams (Control of Industrial and Mobile Robots) ===
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  {| class="wikitable"
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See WeBeep channel.
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  |-
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  |2015/2016
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  |[[media:CONTAUT_MEC-2016-AP01.pdf|February]], [[media:CONTAUT_MEC-2016-AP02.pdf|March]], [[media:CONTAUT_MEC-2016-AP03.pdf|July]], [[media:CONTAUT_MEC-2016-AP04.pdf|September (I)]], [[media:CONTAUT_MEC-2016-AP05.pdf|September (II)]]
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  |-
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  |2016/2017
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  |[[media:CONTAUT_MEC-2017-AP01.pdf|February]], [[media:CONTAUT_MEC-2017-AP02.pdf|March]], [[media:CONTAUT_MEC-2017-AP03.pdf|July (I)]], [[media:CONTAUT_MEC-2017-AP04.pdf|July (II)]], [[media:CONTAUT_MEC-2017-AP05.pdf|September]]
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  |-
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  |2017/2018
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  |[[media:CONTAUT_MEC-2018-AP01.pdf|January]], [[media:CONTAUT_MEC-2018-AP02.pdf|February]], [[media:CONTAUT_MEC-2018-AP03.pdf|June]], [[media:CONTAUT_MEC-2018-AP04.pdf|July]], September
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  |-
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  |}
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=== Office hours ===
 
=== Office hours ===
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=== Online resources ===
 
=== Online resources ===
 
The following are links to online sources which might be useful to complement the material above  
 
The following are links to online sources which might be useful to complement the material above  
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* [http://www.mathworks.it/matlabcentral/fileexchange/23870-asymptotic-bode-diagram Asymptotic Bode plots with Matlab]
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* [http://www.ros.org/ Robot Operating System (ROS)]
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* [http://www.dii.unisi.it/~control/act/home.php Automatic Control Telelab (Università degli Studi di Siena)]
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* [http://www.openmodelica.org/ OpenModelica]
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* [http://home.deib.polimi.it/rocco/caut/index.html Former course Controlli Automatici taught by Prof. Paolo Rocco]
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* [http://gazebosim.org/ Gazebo robot simulator]
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* [http://www.coppeliarobotics.com/ Virtual robot experimentation platform (v-rep)]
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* [http://cs.brown.edu/courses/cs1951r//projects/build/build.html PiDrone: An autonomous educational drone using Raspberry Pi and Python]

Latest revision as of 15:31, 12 September 2022

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. The course can be taken as a standalone 5 credits course or as a module of the integrated course Control of industrial and mobile robots, together with Control of industrial robots.


Lecture timetable

The course is composed by a blending of lectures by the course teacher, and exercises by a teaching assistant. See the official time table on Polimi website.

Teaching material

Lectures

See WeBeep channel.

Exercises

See WeBeep channel.

Labs

See WeBeep channel.

Past exams (Control of Mobile Robots)

See WeBeep channel.

Past exams (Control of Industrial and Mobile Robots)

See WeBeep channel.

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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