Robotics and Autonomous Systems
Modeling, Dynamics, and Control
South China University of Technology
June 15-19 Short Course
F.L. Lewis webpage: Systems and Controls Group, UTA Research Institute
Hai-Long Pei webpage: Autonomous systems Group at SCUT
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
·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
·Potential Field Motion Control
·Autonomous Unmanned Aerial Vehicles – UAV
·UAV Quadrotor Dynamics
·Quadrotor Control by Dynamic Inversion
·Quadrotor Control by Backstepping
·Fixed Wing UAV