700.701 (21S) Control of Autonomous Systems

Sommersemester 2021

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Erster Termin der LV
03.03.2021 11:00 - 12:30 online Off Campus
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Überblick

Bedingt durch die COVID-19-Pandemie können kurzfristige Änderungen bei Lehrveranstaltungen und Prüfungen (z.B. Absage von Präsenz-Lehreveranstaltungen und Umstellung auf Online-Prüfungen) erforderlich sein.

Weitere Informationen zum Lehrbetrieb vor Ort finden Sie unter: https://www.aau.at/corona.
Lehrende/r
LV-Titel englisch Control of Autonomous Systems
LV-Art Vorlesung-Kurs (prüfungsimmanente LV )
LV-Modell Onlinelehrveranstaltung
Semesterstunde/n 2.0
ECTS-Anrechnungspunkte 4.0
Anmeldungen 27 (50 max.)
Organisationseinheit
Unterrichtssprache Englisch
LV-Beginn 03.03.2021
eLearning zum Moodle-Kurs

Zeit und Ort

Beachten Sie bitte, dass sich aufgrund von COVID-19-Maßnahmen die derzeit angezeigten Termine noch ändern können.
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LV-Beschreibung

Intendierte Lernergebnisse

The goal of this lecture is to give the participant a good understanding of modeling different mobile platforms. Once a model is derived in view of its kinematics and dynamics, different control schemes can be applied. Although basic control schemes are discussed in the lecture, the focus of this lecture is not on these control schemes but on the modeling. We will cover mobile robots platforms from legged, wheeled, fix-wing, and rotary wing. At the end of the lecture, the student will be able to define the model of such platform and a corresponding simple controller. More in-depth theory on complex control schemes are provided in the lecture "Non-Linear Systems".

Lehrmethodik inkl. Einsatz von eLearning-Tools

Apart of the material presented in the lecture, different books will be suggested along the course. Also, it is strongly suggested to follow the companying practical course to this lecture. Both are strongly linked such that the learned theory can immediately put into practice.

Inhalt/e

  • Coordinate transformations (including rotation matrices, quaternions, Euler angles, etc)
  • Kinematics and dynamics of robot arms
  • Modeling and control of legged robots
  • Wheeled robots including wheel contstraints and simple control scheme
  • Path planning methods for ground robots
  •  Dynamics, modeling, and control of fix-wing airplanes
  • Dynamics, modeling, and control of rotary-wing helicopters

Erwartete Vorkenntnisse

  • Analysis
  • Linear Algebra
  • Control theory, system theory
  • Fundamentals of robotics

Prüfungsinformationen

Im Fall von online durchgeführten Prüfungen sind die Standards zu beachten, die die technischen Geräte der Studierenden erfüllen müssen, um an diesen Prüfungen teilnehmen zu können.

Prüfungsmethode/n

There will be a final written exam at the end of the lecture.

Prüfungsinhalt/e

All contents taught during the lecture is part of the exam.

Beurteilungskriterien/-maßstäbe

The scored points in the exam reflect the grades from 1-5. With 50% or more of the achievable points, the exam is passed.

Beurteilungsschema

Note Benotungsschema

Position im Curriculum

  • Masterstudium Information and Communications Engineering (ICE) (SKZ: 488, Version: 15W.1)
    • Fach: Information and Communications Engineering: Supplements (NC, ASR) (Wahlfach)
      • Wahl aus dem LV-Katalog (Anhang 4) ( 0.0h VK, VO, KU / 14.0 ECTS)
        • 700.701 Control of Autonomous Systems (2.0h VC / 4.0 ECTS)
  • Masterstudium Information and Communications Engineering (ICE) (SKZ: 488, Version: 15W.1)
    • Fach: Technical Complements (NC, ASR) (Wahlfach)
      • Wahl aus dem LV-Katalog (Anhang 5) ( 0.0h VK, VO, KU / 12.0 ECTS)
        • 700.701 Control of Autonomous Systems (2.0h VC / 4.0 ECTS)
  • Masterstudium Information and Communications Engineering (ICE) (SKZ: 488, Version: 15W.1)
    • Fach: Autonomous Systems and Robotics: Fundamentals (ASR) (Pflichtfach)
      • Control of Autonomous Systems ( 0.0h VK / 4.0 ECTS)
        • 700.701 Control of Autonomous Systems (2.0h VC / 4.0 ECTS)
  • Masterstudium Information and Communications Engineering (ICE) (SKZ: 488, Version: 15W.1)
    • Fach: Information and Communications Engineering: Supplements (NC, ASR) (Wahlfach)
      • Wahl aus dem LV-Katalog (Anhang 4) ( 0.0h VK, VO, KU / 14.0 ECTS)
        • 700.701 Control of Autonomous Systems (2.0h VC / 4.0 ECTS)
  • Masterstudium Information and Communications Engineering (ICE) (SKZ: 488, Version: 15W.1)
    • Fach: Technical Complements (NC, ASR) (Wahlfach)
      • Wahl aus dem LV-Katalog (Anhang 5) ( 0.0h VK, VO, KU / 12.0 ECTS)
        • 700.701 Control of Autonomous Systems (2.0h VC / 4.0 ECTS)
  • Masterstudium Information and Communications Engineering (ICE) (SKZ: 488, Version: 15W.1)
    • Fach: Autonomous Systems and Robotics (WI) (Wahlfach)
      • Control of Autonomous Systems ( 0.0h VK / 4.0 ECTS)
        • 700.701 Control of Autonomous Systems (2.0h VC / 4.0 ECTS)
  • Masterstudium Information and Communications Engineering (ICE) (SKZ: 488, Version: 15W.1)
    • Fach: Autonomous Systems and Robotics (WI) (Wahlfach)
      • Wahl aus dem LV-Katalog (siehe Anhang 3) ( 0.0h VK, VO / 30.0 ECTS)
        • 700.701 Control of Autonomous Systems (2.0h VC / 4.0 ECTS)

Gleichwertige Lehrveranstaltungen im Sinne der Prüfungsantrittszählung

Sommersemester 2024
  • 700.701 VC Control of Autonomous Systems (2.0h / 4.0ECTS)
Sommersemester 2023
  • 700.701 VC Control of Autonomous Systems (2.0h / 4.0ECTS)
Sommersemester 2022
  • 700.701 VC Control of Autonomous Systems (2.0h / 4.0ECTS)
Sommersemester 2020
  • 700.701 VC Control of Autonomous Systems (2.0h / 4.0ECTS)
Sommersemester 2019
  • 700.701 VC Control of Autonomous Systems (2.0h / 4.0ECTS)
Sommersemester 2018
  • 700.701 VC Control of Autonomous Systems (2.0h / 4.0ECTS)
Sommersemester 2017
  • 700.701 VC Control of Autonomous Systems (2.0h / 4.0ECTS)
Sommersemester 2016
  • 700.701 VC Control of Autonomous Systems (2.0h / 4.0ECTS)