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Note for Robotics and Robot Applications - RRA by Dr.K. RAJASEKARAN

  • Robotics and Robot Applications - RRA
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CDS 101/110: Lecture 1.1 Introduction to Feedback & Control Joel W. Burdick 26 September 2016 Goals: • Give an overview of CDS 101/110: course structure & administration - http://robotics.caltech.edu/wiki/index.php/CDS110_2016 • Define feedback systems and their main features • Describe what control systems do and some principles of feedback Reading: • Åström and Murray, Feedback Systems: An Introduction for Scientists and Engineers, Chapter 1 • Sections 1.1-1.5 • Sections 1.6-1.9 should be skimmed

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What is Feedback? Merriam Webster: the return to the input of a part of the output of a machine, system, or process (as for producing changes in an electronic circuit that improve performance or in an automatic control device that provide self-corrective action) [1920] Feedback = mutual interconnection of two (or more) systems System 1 affects system 2 System 2 affects system 1 Cause and effect is tricky; systems are mutually dependent • • • Feedback is ubiquitous in natural and engineered systems System 1 System 2 Terminology System 1 System 1 System 2 System 2 Closed Loop Open Loop 5

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CDS 101/110 Course Sequence • • Fall CDS 101 – Introduction to the principles and tools of control and feedback Summarize key concepts, w/ examples of fundamental principles at work Introduce MATLAB-based tools for modeling, simulation, and analysis CDS 110 – Analytical understanding of key concepts in control Detailed description of classical control and state space concepts Provide knowledge to work with control engineers in a team setting • • • • • CDS 140 - Introduction to Dynamical Systems Introduction to applied mathematical tools in dynamical systems • Spring CDS 212/213 - Modern (robust) control design Operator-based approach to control; linear and nonlinear systems 212 = analysis, 213 = synthesis Winter CDS 112 – Detailed design tools for control systems Optimization-based control (LQR, RHC/MPC, Kalman filters) CDS Minor Undergrads: CDS 110, CDS 112, CDS 140, senior thesis Grad students: 54 units in CDS - usually CDS 110/112, CDS 140/240 + 2 electives • • 6

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Some Related Courses CDS 270 – Special Topics Changes every year. Can be taken multiple times. • ME/CS 132(a,b): Robotic Perception and Navigation How to robots “see,” perceive, and map their world? (uses CDS 112 ideas) How do they plan their motions (unique to robotics) Winter/Spring of this year This year’s focus: aerial rotorcraft vehicles. • • • • EE 148 (a,b): Computer Vision Basics of image formation and image processing Special topics, often focusing on object identification/classification • • ME 115(a,b): Introduction to Kinematics and Robotics Basic analysis of robot motion Alternates Winter/Spring with ME/CS 132(a,b) This year’s focus: aerial rotorcraft vehicles. • • • CDS 140 - Introduction to Dynamical Systems Introduction to applied mathematical tools in dynamical systems • 7

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