RBE502
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Lecture schedule
Ground rules

RBE502: Lectures

Lectures schedule.

  • Introduction and Logistics.

  • Robot dynamics

    • Euler-Lagrange Modeling. Ref [2]. Chap 4

    • A motivating example: Stabilization of an inverted pendulum

  • Linear control theory Ref [2]

    • State space model.

    • Stability of linear systems.

    • Observability of linear systems.

    • Trajectory generation, Jacobian linearization, and tracking.

    • Matlab simulation and programming in control.

    • Linear quadratic regular.

  • Nonlinear control theory Ref [1,4,5]

    • Lyapunov stability.

    • Centralized control of robotic manipulator.

    • Feedback control and feedforward compensation.

    • Workspace control of robotic manipulators.

    • Robust and adaptive control.

    • Impedance control.

    • Feedback linearization.

  • Sampled topics

    • Model Predictive Control.

    • Consensus-based flocking control of multi-robot systems.

    • Learning-based control.

  • References:

  1. Sciavicco, L., & Villani, L. (2009). Robotics: Modelling, Planning, and Control. Springer. WPI Library Link.

  2. Richard M. Murray, Zexiang Li, S. Shankar Sastry (1994) A Mathematical Introduction to Robotic Manipulation CRC press. Online version.

  3. Aström, Karl Johan, and Richard M. Murray. “Feedback systems: an introduction for scientists and engineers.” Princeton university press, 2010.

  4. Khalil, Hassan. Nonlinear Systems. (2002). Related materials will be provided before lectures.

  5. Spong, Mark W., Seth Hutchinson, and Mathukumalli Vidyasagar. “Robot modeling and control.” Vol. 3. New York: Wiley, 2006.

  6. Liberzon, Daniel. Calculus of variations and optimal control theory: a concise introduction. Princeton University Press, 2012. WPI Library Link

  7. Luigi Villani, Joris De Schutter. Force Control in Springer Handbook of Robotics, pp 195-220. PDF.