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Description
Aims:
Students will learn to design controllers for robots and simulate their behaviour using mathematical models of their dynamics. Theory will be contextualised into a practitioner's point of view and students will develop working prototypes of control systems for a robot to solve specific tasks.
Intended learning outcomes:
On successful completion of the module, a student will be able to:
- Understand the principles of control design for robotic systems.
- Reason about robot dynamics mathematically.
- Understand the principles and properties of feedback control systems.
- Understand optimisation of controllers.
- Program robots and system simulations in an appropriate programming language.
Indicative content:
The following are indicative of the topics the module will typically cover:
- Dynamical systems in continuous and discrete time.
- Single-input single-output (SISO) and multiple-input multiple-output (MIMO) systems.
- Linear and time invariant (LTI) systems.
- Mathematical representations of dynamical systems.
- Control loops, feedback, and stability.
- Controller performance, robustness, and optimality.
A theoretical treatment in lectures will be accompanied by corresponding practical exercises in mathematics, programming, and simulation, in which students can exercise their skills.
Requisites:
To be eligible to select this module as an option or elective, a student must: (1) be registered on a programme and year of study for which it is formally available; (2) understand basic calculus and linear algebra; and (3) have programming experience.
Module deliveries for 2024/25 academic year
Last updated
This module description was last updated on 8th April 2024.
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