Current Students

COMPGX02 - Robotic Control Theory and Systems

This database contains 2016-17 versions of the syllabuses. For current versions please see here.

Code COMPGX02
Year MSc
Prerequisites None
Term 1
Taught By Stephen Hailes (100%)
Aims

The students will gain insight into robotics and autonomous systems control theory and practice, specifically:

  • Control loops. damping, feedback and stability analysis with a working understanding about how these are used for navigating a robot within an environment;
  • Insight into developing a working prototype of a control system for a robot that solves a specific task.
Learning Outcomes

Students successfully completing the module should understand: 

1. Control systems for robots 

2. Control sensitivity and feedback problems 

3. Optimization of controllers

 

Programming with Matlab or Python or C++ and ROS.

Content:

The aim of this course is to provide the basic theory required for solving control problems in robotics and autonomous systems trom a practitioner's point of view. 
The course presents theory and methodology for analysis and modelling of systems and signals, and methods for design and synthesis of feedback controllers. Special emphasis is placed on: 
• Control of systems with multiple inputs and outputs. - Fundamental control perlormance and sensitivity and robustness in feedback systems.  
• Synthesis of controllers through optimization. - Predictive control with constraints. 
In all cases, a theoretical treatment in lectures will be accompanied by corresponding practical exercises in either simulation or reality, in which students can exercise their skills.

Method of Instruction:

The module is delivered through a combination of lectures and lab classes.

Assessment:

The course has the following assessment components:

Coursework (50%)

Exam (50%)