Advanced control of avtonomous systems

Course description

– Introduction to autonomous systems – mobile systems, unmanned aerial vehicles, space crafts

 – Methods for localisation and mapping, simultaneous localisation and mapping, extended Kalman filter, position, orientation and feature estimation methods – particle filter

 – Higher level control – strategies of multi-agent systems control

 – Path planning – the principle of optimality, path optimisation with constraints (obstacle avoiding, nonholonomity, dynamic constraints, actuator constraints), satellite orbits

 –  Optimal control in the presence of disturbances

 – Frequency domain robust control design methods

 – Trajectory tracking control of autonomous systems

 – Control of autonomous systems to the final state

 – Adaptive control of autonomous systems

 – Matrix inequality control of autonomous systems

Course is carried out on study programme

Objectives and competences

  • to present problems of autonomous systems control
  • to present methods of localisation and mapping
  • to present problems of higher level control
  • to present problems of optimal and adaptive control of autonomous systems
  • to present the tools for robust control of autonomous systems

Learning and teaching methods

Lectures, Seminar work.

Intended learning outcomes

  • basic knowledge from autonomous mobile systems and multiagent systems
  • advanced approaches in autonomous system control
  • development of methods for localisation in environment
  • use of obtained knowledge at project work

Reference nosilca

  1. KLANČAR, Gregor, TESLIĆ, Luka, ŠKRJANC, Igor. Mobile-robot pose estimation and environment mapping using an extended Kalman filter. International Journal of Systems Science, vol. 45, no. 12, str. 2603-2618, 2014.
  2. KLANČAR, Gregor, BLAŽIČ, Sašo, MATKO, Drago, MUŠIČ, Gašper. Image-based attitude control of a remote sensing satellite. Journal of intelligent & robotic systems, ISSN 0921-0296, vol. 66, no. 3, str. 343-357, 201
  3. KLANČAR, Gregor, MATKO, Drago, BLAŽIČ, Sašo: A Control Strategy for Platoons of Differential-Drive Wheeled Mobile Robot. Robotics and Autonomous Systems, vol. 59, no. 2, str. 57-64, 2011.
  4. KLANČAR, Gregor, ZDEŠAR, Andrej, BLAŽIČ, Sašo, ŠKRJANC, Igor: Wheeled mobile robotics : from fundamentals towards autonomous systems, Elsevier: Butterworth-Heinemann, Cambridge, 2017.
  5. KLANČAR, Gregor, ŠKRJANC, Igor. Tracking-error model-based predictive control for mobile robots in real time. Robotics and Autonomous Systems, vol. 55, no. 6, str. 460-469, 2007.

Study materials

  1. Gregor Klančar, Andrej Zdešar, Sašo Blažič, Igor Škrjanc: Wheeled mobile robotics : from fundamentals towards autonomous systems, Elsevier: Butterworth-Heinemann, Cambridge, 2017.
  2. Gregory Dudek, Michael Jenkin: Computational Principles of Mobile Robotics, Cambridge University Press, New York, 2010.
  3. Howie Choset, Kevin M. Lynch, Seth Hutchinson, George A. Kantor, Wolfram Burgard, Lydia E. Kavraki, Sebastian Thrun, Principles of Robot Motion: Theory, Algorithms, and Implementations (Intelligent Robotics and Autonomous Agents series), MIT Press, Cambridge, 2005.
  4. Sebastian Thrun, Wolfram Burgard, Dieter Fox: Probabilistic Robotics (Intelligent Robotics and Autonomous Agents series), MIT Press, Cambridge, 2006.
  5. Michael Wooldridge: An Introduction to MultiAgent Systems, Second Edition, John Wiley & Sons, Chichester, England, 2009.
  6. J. Andrade-Cetto, A. Sanfeliu, Environment Learning for Indoor Mobile Robots, Springer, 200
  7. G. Balas, R. Chiang, A. Packard, M. Safonov, Robust Control Toolbox 3, User’s Guide, MathWorks, 2008
  8. K. J. Åström, B. Wittenmark, Adaptive Control, Second Edition, Addison-Wesley Publishing Company, Inc., Reading, 1995.

Bodi na tekočem

Univerza v Ljubljani, Fakulteta za elektrotehniko, Tržaška cesta 25, 1000 Ljubljana

E:  dekanat@fe.uni-lj.si T:  01 4768 411