STM-MIQ-09-Motorisation et commande d'axe pour la robotique
- ue-mec-stm-miq-09
- Mécatronique
Semestre : 9
Responsable(s) du contenu pédagogique
- Sylvain DURAND
- Olivier PICCIN
| Total coefficients : 3 |
| Total heures : 30 (9 TD, 21 TP) |
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
Contraintes pédagogiques - Méthodes pédagogiques
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...
Evaluation is based on a video and a short scientific paper.
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.)