700.701 (24S) Control of Autonomous Systems

Sommersemester 2024

Registration deadline has expired.

First course session
06.03.2024 11:45 - 13:15 B04.1.06 On Campus
Next session:
22.05.2024 11:45 - 13:15 B04.1.06 On Campus

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

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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

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.

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 scheme

Position 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)
  • 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)
  • 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)
  • 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)
  • 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)
  • 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)
  • 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)
  • 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)

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)