Advanced control of avtonomous systems
Osnovni podatki
Opis predmeta
– 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
Cilji
- 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
Metode poučevanja in učenja
Lectures, Seminar work.
Bodi na tekočem
Univerza v Ljubljani, Fakulteta za elektrotehniko, Tržaška cesta 25, 1000 Ljubljana