The course is taught in two halves. The first half covers basic nonlinear control, design and analysis. The second half is devoted to robotic applications. The nonlinear control will cover topics drawn from analysis and design. Analysis includes: general state description of nonlinear systems, linearisation techniques, Lyapunov stability, constrained linear systems, constrained optimisation, multimode control. Design includes: actuator saturation, linearisation and gain scheduling, feedforward control, interactions and LQG control, sliding mode control, adaptive control. The above will be developed with illustrative simulation studies and CAD, and both physical modelling and systems identification will be covered. The robotics material will cover topics drawn from: manipulator kinematics and dynamics, velocity propagation and Jacobians, linear and nonlinear control of manipulators.
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