700.701 (24S) Control of Autonomous Systems
Overview
- Lecturer
- Course title german Control of Autonomous Systems
- Type Lecture - Course (continuous assessment course )
- Course model Attendance-based course
- Hours per Week 2.0
- ECTS credits 4.0
- Registrations 18 (50 max.)
- Organisational unit
- Language of instruction English
- Course begins on 06.03.2024
- eLearning Go to Moodle course
Time and place
Course Information
Intended learning outcomes
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".
Teaching methodology
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.
Course content
- 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
Prior knowledge expected
- Analysis
- Linear Algebra
- Control theory, system theory
- Fundamentals of robotics
Curricular registration requirements
Literature
Examination information
Examination methodology
There will be a final written exam at the end of the lecture.
Examination topic(s)
All contents taught during the lecture is part of the exam.
Assessment criteria / Standards of assessment for examinations
The scored points in the exam reflect the grades from 1-5. With 50% or more of the achievable points, the exam is passed.
Grading scheme
Grade / Grade grading schemePosition in the curriculum
- Master's degree programme Information and Communications Engineering (ICE)
(SKZ: 488, Version: 15W.1)
-
Subject: Information and Communications Engineering: Supplements (NC, ASR)
(Compulsory elective)
-
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)
-
Wahl aus dem LV-Katalog (Anhang 4) (
0.0h VK, VO, KU / 14.0 ECTS)
-
Subject: Information and Communications Engineering: Supplements (NC, ASR)
(Compulsory elective)
- Master's degree programme Information and Communications Engineering (ICE)
(SKZ: 488, Version: 15W.1)
-
Subject: Technical Complements (NC, ASR)
(Compulsory elective)
-
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)
-
Wahl aus dem LV-Katalog (Anhang 5) (
0.0h VK, VO, KU / 12.0 ECTS)
-
Subject: Technical Complements (NC, ASR)
(Compulsory elective)
- Master's degree programme Information and Communications Engineering (ICE)
(SKZ: 488, Version: 15W.1)
-
Subject: Autonomous Systems and Robotics: Fundamentals (ASR)
(Compulsory subject)
-
Control of Autonomous Systems (
0.0h VK / 4.0 ECTS)
- 700.701 Control of Autonomous Systems (2.0h VC / 4.0 ECTS)
-
Control of Autonomous Systems (
0.0h VK / 4.0 ECTS)
-
Subject: Autonomous Systems and Robotics: Fundamentals (ASR)
(Compulsory subject)
- Master's degree programme Information and Communications Engineering (ICE)
(SKZ: 488, Version: 15W.1)
-
Subject: Information and Communications Engineering: Supplements (NC, ASR)
(Compulsory elective)
-
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)
-
Wahl aus dem LV-Katalog (Anhang 4) (
0.0h VK, VO, KU / 14.0 ECTS)
-
Subject: Information and Communications Engineering: Supplements (NC, ASR)
(Compulsory elective)
- Master's degree programme Information and Communications Engineering (ICE)
(SKZ: 488, Version: 15W.1)
-
Subject: Technical Complements (NC, ASR)
(Compulsory elective)
-
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)
-
Wahl aus dem LV-Katalog (Anhang 5) (
0.0h VK, VO, KU / 12.0 ECTS)
-
Subject: Technical Complements (NC, ASR)
(Compulsory elective)
- Master's degree programme Information and Communications Engineering (ICE)
(SKZ: 488, Version: 15W.1)
-
Subject: Autonomous Systems and Robotics (WI)
(Compulsory elective)
-
Control of Autonomous Systems (
0.0h VK / 4.0 ECTS)
- 700.701 Control of Autonomous Systems (2.0h VC / 4.0 ECTS)
-
Control of Autonomous Systems (
0.0h VK / 4.0 ECTS)
-
Subject: Autonomous Systems and Robotics (WI)
(Compulsory elective)
- Master's degree programme Information and Communications Engineering (ICE)
(SKZ: 488, Version: 15W.1)
-
Subject: Autonomous Systems and Robotics (WI)
(Compulsory elective)
-
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)
-
Wahl aus dem LV-Katalog (siehe Anhang 3) (
0.0h VK, VO / 30.0 ECTS)
-
Subject: Autonomous Systems and Robotics (WI)
(Compulsory elective)
- Master's degree programme Information and Communications Engineering (ICE)
(SKZ: 488, Version: 22W.1)
-
Subject: Autonomous Systems and Robotics: Fundamentals
(Compulsory subject)
-
2.1 Control of Autonomous Systems (
0.0h VC / 4.0 ECTS)
- 700.701 Control of Autonomous Systems (2.0h VC / 4.0 ECTS)
-
2.1 Control of Autonomous Systems (
0.0h VC / 4.0 ECTS)
-
Subject: Autonomous Systems and Robotics: Fundamentals
(Compulsory subject)
Equivalent courses for counting the examination attempts
-
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 2021
- 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)