A Short course on Robotics, Aircraft, and Autonomous Systems Modeling, Dynamics, and Control

Robotics, Aircraft, and Autonomous Systems

Modeling, Dynamics, and Control

May 20-24 short Course

Course Overview

This short course will cover basic principles of robots, aircraft control, and autonomous systems. Included are robot manipulators, unmanned ground vehicles (UGV), fixed wing aircraft control, 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 advanced control techniques based on neural-adaptive and robust control. Extensions are made to force control and robots with link flexibility and motor dynamics. Basic concepts of neural networks are presented.

Aircraft dynamics and techniques for stability augmentation and control augmentation are covered. Quadrotor UAV are studied, including dynamics modeling and nonlinear control schemes. The dynamic equations of UGV are covered, along with potential field path planning and control.

Control of Robot Workcells is outlined, and some ideas about human/robot interaction (HRI) are presented.

Coursework Requirements

The course requires students to complete one Homework and one MATLAB Computer Project.

Grading (only when offered as a short course)

Hwk 1 50%

MATLAB Project 50%

Course Outline

Engineering Ethics – 1 hour Introductory Lecture

· State variable systems

· Lagrange’s equation and SV models of some representative systems

· Robot Kinematics and Dynamics

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

· Robot Manipulator Configurations and Types- Chapter 1 of book

· Robot Dynamics- Chapter 3 of book

· Robot Kinematics- Appendix A of book

· Cartesian Dynamics- Chapter 3 of book, Section 3.5

· Actuator Dynamics- Section 3.6

· Computed-Torque Control

· Computed Torque Control- Chapter 4 of book, starting at Section 4.4

· Advanced Techniques for Robot Control

· Sliding Mode Control

· Adaptive and Robust Control

· Neural-adaptive Control

· Neural Network Control of Robot Systems

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.

· Background on neural networks – Chapter 1 of the book

· Filtered error sliding mode control- Section 3.4 of the book

· Neural Network control of robot systems- Chapter 4 of the book

· Overview of Robot Manipulators and Workcells

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 Overview

· Trajectory Generation

· Robot End Effectors

· Sensors and Vision Overview

· Path Planning

· Human-Robot Interaction (HRI)

· Autonomous Systems

· Overview of Autonomous Systems and User Interfaces in Workcell Control

· Autonomous Systems

· Autonomous Unmanned Ground Vehicles - UGV

· UGV Dynamics

· Potential Field Motion Control

· Sample Problem for Potential Field Design

· Software – MATLAB m file

· Swarms- software – MATLAB m file

· Autonomous Unmanned Aerial Vehicles – UAV

· Quadrotors

· UAV Quadrotor Dynamics and Control

· Quadrotor Control by Dynamic Inversion

· Quadrotor Control by Backstepping

· Fixed wing Aircraft

· Modeling

· Control

· Cooperative Control of Multi-agent Systems on Communication Graphs

· PPT presentation for Introduction to Cooperative Control

· Book about Cooperative Control of MAS

· 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

· Kalman Filter

· Discrete-time KF

· Continuous-discrete KF

· Continuous-discrete Extended Kalman Filter

· Neural Networks

o Background – Chapter 1 of Lewis NN control of robot manipulators book.

o Properties of NN

§ Classification