Control System Design for Robotics

This includes:

• State-space models and linearization;
• Lyapunov stability theory, LaSalle’s invariance principle, passivity analysis;
• Inverse dynamics compensation, feedback linearization, computed torque control, robot control in joint space;
• Controllability and observability of a state-space model, pole placement, linear-quadratic regulator, Kalman filter, separation principle, and observer-based controller synthesis;
• Transfer function and frequency response, feedback and feed-forward, loop gain and sensitivities, characteristic polynomial and internal stability, Bode and Nyquist stability criteria, stability margins, loop-shaping, nominal performance analysis and robust stability analysis, waterbed effect and bandwidth limitations;
• Sampling and discretization, sampling rate selection, computer implementation and simulation;
• Legal aspects in control design for autonomous robots.

Why this course: During this course, the following skills and knowledge can be acquired:

• Setting up the state-space equations of a nonlinear system;
• Linearization of non-linear systems around an operating point;
• Obtaining the linear state-space description and transfer function of linearized systems;
• Analysis of the stability of a (nonlinear) system based on Lyapunov’s theorem and LaSalle’s invariance principle;
• Determination of the controllability and observability of a linear state-space model;
• Synthesis of an observer-based controller based on the separation theorem;
• Analysis of the stability of a feedback loop via frequency response as well as algebraic methods;
• Discretization and implementation of a controller in code and simulate the overall system behavior;
• Synthesis of controllers based on manual loop-shaping;
• Identification and handling of fundamental design trade-offs and limitations in feedback controller synthesis;
• Application of the passivity theorem to analyze controllers for stability during physical interaction with humans or objects;
• Synthesis of a controller for a nonlinear robotic system in joint space;
• Design, application and evaluation of controllers on a practical problem.

Course highlight: Practical project to apply methods learned during the course.

For whom: Professionals with basic knowledge on differential equations, classical dynamical mechanical modelling, linear systems, Laplace and Fourier transforms and basic PID control.

From whom:

• dr.ir. A.Q.L. Keemink
• prof.dr.ir. W.B.J. Hakvoort
• dr. A. Votsis
• dr. H. Koroglu
• dr. I.S.M. Khalil

Practical information: This is a regular master course, in which students as well as professionals can participate. The course comprises about 15 lectures and 8 tutorials, the latter for asking questions and discussing open issues. The gained knowledge will be applied and evaluated in an assignment and two exams.

Location: University of Twente, Enschede, NL

Duration: The course is scheduled annually from November till January. It requires 140 hours of study load.

Costs: € 2067,15

More information:

Content of the course: dr.ir. A.Q.L. Keemink

Registration: Registration form | Faculty of Engineering Technology (ET)