South China University of Technology

June 15-19 Short Course

COURSE OUTLINE

F.L. Lewis webpage: Systems and Controls Group, UTA Research Institute

Hai-Long Pei webpage: Autonomous systems Group at SCUT

Course Overview

This 5 day short course will cover basic principles of robots and autonomous systems, including robot manipulators, unmanned ground vehicles (UGV), and unmanned aerial vehicles (UAV).Robot modeling and dynamics equations are presented and robot kinematics and Jacobians.The fundamentals of computed torque control are given, as well as adaptive and robust control.Extensions are made to force control and robots with link flexibility and motor dynamics.

The dynamic equations of UGV are covered, along with potential field path planning and control.Quadrotor UAV are studied, including dynamics modeling and nonlinear control schemes.Fixed wing UAV are studied, including dynamics and several control methods.

·Overview of Robot Manipulators

Notes from the chapter: F.L. Lewis, M. Fitzgerald, and K. Liu “Robotics,” in The Computer Science Handbook, Allen B. Tucker, Jr. ed., Chapter 71, CRC Press, 2011.

·Robot Workcells and Commercial Robot Manipulators

·Kinematics and Dynamics Introduction

·Robot End Effectors

·Sensors and Vision Overview

·Path Planning

·Robot Kinematics, Dynamics, and Computed-Torque Control

Notes from the book: F.L. Lewis, D.M. Dawson, and C.T. Abdallah, Robot Manipulator Control: Theory and Practice, 2nd edition, Revised and Expanded, CRC Press, Boca Raton, 2006.

·Robot Kinematics- Appendix A of book

·Robot Dynamics- Chapter 3 of book

·Computed Torque Control- Chapter 4 of book

·Robot Control Extensions

Notes from the book: F.L. Lewis, S. Jagannathan, and A. Yesildirek, Neural Network Control of Robot Manipulators and Nonlinear Systems, Taylor and Francis, London, 1999.

·Adaptive Control – Section 3.4 of the book

·Robust Control – Section 3.4 of the book

·Force Control -– Section 5.1 of the book

·Robots with Flexible Links and Motor Dynamics - Section 5.2 of the book

·Autonomous Unmanned Ground Vehicles - UGV

·UGV Dynamics

·Potential Field Motion Control

·Autonomous Unmanned Aerial Vehicles – UAV

·Quadrotors

·UAV Quadrotor Dynamics

·Quadrotor Control by Dynamic Inversion

·Quadrotor Control by Backstepping