Analysis and Control of Nonlinear Mobile Systems
Xiaoming Hu
KTH Royal Institute of Technology
Description of the course:This course gives an overview on nonlinear dynamical systems, in particular mobile systems, presented from systems and control point of view. In this course, both analysis and synthesis techniques will be covered. Thus it is very suitable for students who want to have a basic understanding of nonlinear systems. We plan to cover a range of topics on nonlinear systems such as modeling, approximation methods, periodic solutions, Lyapunov stability, controllability and observability, feedback stabilization, optimal filtering and optimal control.
Schedule
|
2016.07.04 (Mon.) Room:N602 | |
|
Lecture 1 (9:00~10:00) |
Introduction of nonlinear mobile systems |
|
Lecture 2 (10:10~11:10) |
Mathematical preparations |
|
Lecture 3 (9:00~10:00) |
Rigid body motion |
|
Lecture 4 (10:10~11:10) |
Manipulator dynamics |
|
2016.07.06 (Wed.) Room:N602 | |
|
Lecture 5 (9:00~10:00) |
Periodic motions |
|
Lecture 6 (10:10~11:10) |
Stability theory |
|
2016.07.07 (Thu.) Room:N208 | |
|
Lecture 7 (9:00~10:00) |
Center manifold theory |
|
Lecture 8 (10:10~11:10) |
Singular perturbation and non-smooth systems |
|
2016.07.08 (Fri.) Room:N514 |
|
|
Lecture 9 (09:00~10:00) |
Nonlinear controllability |
|
Lecture 10 (10:10~11:10) |
Perception and observability |
|
2016.07.11 (Mon.) Room:N602 | |
|
Lecture 11 (9:00~10:00) |
Normal form and zero dynamics |
|
Lecture 12 (10:10~11:10) |
Local feedback stabilization |
|
2016.07.12 (Tue.) Room:N602 | |
|
Lecture 13 (9:00~10:00) |
Global feedback stabilization |
|
Lecture 14 (10:10~11:10) |
Stabilization using small inputs |
|
Lecture 15 (15:00~16:00) |
Exact linearization |
|
Lecture 16 (16:10~17:10) |
Kalman filters |
|
2016.07.13 (Wed.) Room:N514 | |
|
Lecture 17 (9:00~10:00) |
Extended Kalman filters |
|
Lecture 18 (10:10~11:10) |
PMP: optimal control to a manifold |
Final exam: 14:00-17:00, July 14 N205
-----------------------------------------------------------------------------------------------------------------------------------
Xiaoming Hu was born in Chengdu, China. He received the B.S. degree from University of Science and Technology of China in 1983. He received the M.S. and Ph.D degrees from Arizona State University in 1986 and 1989 respectively. He served as a research assistant at the Institute of Automation, Chinese Academy of Sciences, from 1983 to 1984. From 1989 to 1990 he was a Gustafsson Postdoctoral Fellow at the Royal Institute of Technology, Stockholm, where he is currently a professor. His main research interests are in nonlinear feedback stabilization, nonlinear observer design, sensing and active perception, motion planning and control of mobile robots, and mobile manipulation.
参加此课程的博士生在课程结束后完成相关试卷，可作为博士生课程
