Advanced control of avtonomous systems

Subject 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

The subject is taught in programs

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

Teaching and learning methods

Lectures, Seminar work.

Expected study results

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

Basic sources and literature

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