> Formations > Programmes des études

STM-GE-12-Automatique avancée

ue-gec-stm-ge-12

Responsable(s) du contenu pédagogique


Total crédits : 3
Total heures : 30 (12 TD, 18 projet)


Prérequis

- Automatic control general course (Autom. 1 et 2)
- State space representation, state feedback control and state observer (Autom. 3)


Objectif

Advanced control, application to Mobile Robotics


Programme

Introduction to Mobile Robotics:
- Wheeled mobile robot
- Nonholonomic constraint and unicycle modeling
- Feedback linearization- Trajectory tracking
- Perception, positioning and localization


Mode d'évaluation

Computer exercises and practical project on mobile robotics, advanced control, trajectory tracking, perception, localization, etc...


Bibliographie

- "Feedback Systems: An Introduction for Scientists and Engineers", K.J. Aström and R.M. Murray (Princeton University Press, available online)
- "Automatic Control Systems", F. Golnaraghi and B.C. Kuo (Prentice-Hall Inc.)



Retour