700.701 (18S) Control of Autonomous Systems

Sommersemester 2018

Anmeldefrist abgelaufen.

Erster Termin der LV
07.03.2018 11:00 - 12:30 , B04.1.06
... keine weiteren Termine bekannt

Überblick

Lehrende/r
LV-Titel englisch
Control of Autonomous Systems
LV-Art
Vorlesung-Kurs (prüfungsimmanente LV )
Semesterstunde/n
2.0
ECTS-Anrechungspunkte
4.0
Anmeldungen
8 (50 max.)
Organisationseinheit
Unterrichtssprache
Englisch
mögliche Sprache/n der Leistungserbringung
Deutsch , Englisch
LV-Beginn
01.03.2018
eLearning
zum Moodle-Kurs

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

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

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.

Beurteilungsschema

Note/Grade 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 2019
  • 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)