Course

Introduction and Motivation: Role of controls (open and closed loop control), Mathematical preliminaries, review of classical control concepts.

Introduction to modern control theory: State Space Design: Modelling of physical systems, Linearization, Concepts of state, State-space, Representation of Linear system, Controllability and Observability, State Observers.

Advanced Controller Design: Kalman Filters as Dynamic System State Observers; Linear Quadratic Regulator (LQR) Design of model-predictive controller.

Case study on control of robotic manipulators, mobile robots and other robotic systems in joint space and task space, controller design- PID control, stability analysis.

Suggested Lab Sessions:

·         Usage of MATLAB/Equivalent for the mathematical modelling of physical systems, electro-mechanical systems.

·         Usage of MATLAB/Equivalent for the implementation of different control models and stability analysis.

·         Usage of MATLAB/Equivalent for the control of robotic systems and their stability analyses.

Course Outcomes:

CO1: Model control systems in the continuous domain using classical control approach.

CO2: Analyze control systems using state space models.

CO3: Design state feedback controllers and state observers for continuous time and discrete time systems.

CO4: Apply control strategies and stability analysis techniques to robotic systems.

CO5: Use software tools for the analysis and design of control systems.

Textbooks / References:

1. S. K. Saha, “Introduction to Robotics”, 3rd Edition, McGraw Hill Education (India) Pvt. Ltd., 2024.
2. A. Ghosal, “Robotics: fundamental concepts and analysis”, 2nd Edition, Oxford University Press, 2023.
3. K. Ogata, “Discrete-Time Control Systems”, Pearson Education, 2011.  
4. M. Spong, M. Vidyasagar, S. Hutchinson, “Robot Modeling and Control”, Wiley & Sons, 2005.
5. Peter Corke, “Robotics, Vision, and Control: Fundamental Algorithms in MATLAB”,. Springer, 2013.
6. John J Craig, “Introduction to Robotics: Mechanics and Control”, Pearson, 2018.