Analysis and Design of Non-linear Control - ELEC9732
Faculty: Faculty of Engineering
School: School of Electrical Eng and Telecommunications
Course Outline: http://www.ee.unsw.edu.au
Campus: Kensington Campus
Career: Postgraduate
Units of Credit: 6
EFTSL: 0.12500 (more info)
Indicative Contact Hours per Week: 3
Excluded: ELEC9422
CSS Contribution Charge: 2 (more info)
Tuition Fee: See Tuition Fee Schedule
Further Information: See Class Timetable
View course information for previous years.
Description
UOC6 HPW3
The course is taught in two halves. The first half covers basic nonlinear control, design and analysis. The second half is devoted to robotic applications. The nonlinear control will cover topics drawn from analysis and design. Analysis includes: general state description of nonlinear systems, linearisation techniques, Lyapunov stability, constrained linear systems, constrained optimisation, multimode control. Design includes: actuator saturation, linearisation and gain scheduling, feedforward control, interactions and LQG control, sliding mode control, adaptive control. The above will be developed with illustrative simulation studies and CAD, and both physical modelling and systems identification will be covered. The robotics material will cover topics drawn from: manipulator kinematics and dynamics, velocity propagation and Jacobians, linear and nonlinear control of manipulators.
The course is taught in two halves. The first half covers basic nonlinear control, design and analysis. The second half is devoted to robotic applications. The nonlinear control will cover topics drawn from analysis and design. Analysis includes: general state description of nonlinear systems, linearisation techniques, Lyapunov stability, constrained linear systems, constrained optimisation, multimode control. Design includes: actuator saturation, linearisation and gain scheduling, feedforward control, interactions and LQG control, sliding mode control, adaptive control. The above will be developed with illustrative simulation studies and CAD, and both physical modelling and systems identification will be covered. The robotics material will cover topics drawn from: manipulator kinematics and dynamics, velocity propagation and Jacobians, linear and nonlinear control of manipulators.
Study Levels
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