Introduction to modeling, design and synthesis of embedded control systems. Courses topics include: vehicle/robot dynamics, nonlinear system analysis, modern control techniques, embedded control systems architecture, system-level embedded controllers synthesis, and hardware-in-the-loop simulation. Intended for seniors and graduate students. A project is required. Prerequisite: EECE 218, EECE257, or consent of instructor. Fall. [3]
| 12/2/2003 | Sample Mathematica file on differentiation and integration |
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12/1/2003 |
Project Description
Final Report Submission: 10:00am-12:00pm on 12/17/2003 Please come to FGH 376 to hand in your report Report sent after 12:00pm will not be accepted |
| 9/14/2003 | Homework 1 will be distributed on Tuesday (9/16) in 308 Featheringill Hall at 11:00am. |
| 9/3/2003 | Lecture note of the first lecture is posted. Please click the hyperlink in the Class Schedule. |
Office: 376 Jacobs Hall
Office Hours: TBA
Email: john.koo@vanderbilt.edu
URL: http://www.vuse.vanderbilt.edu/~kootj/
| Homework | 40% |
| Final Exam | 60% |
Homework
Homework captures both theory and applications. Simulink/Matlab and Mathematica will be used.
Project
Potential project topics will be announced during the course.
Prerequisites
Students should understand basic concepts in linear algebra, differential equations, and dynamical systems. They should know how to program in some language; for example, Matlab/Simulink, Mathematica, Java or C. Familiarity with control theory and embedded systems may be useful.
R. M. Murray, Z. Li, and S.S. Sastry. A Mathematical Introduction to Robotic Manipulation, CRC Press, 1994.
H. K. Khalil. Nonlinear Systems, Pearson Education, 2001.
J-J E. Slotine and W. Li. Applied Nonlinear Control, Prentice Hall, 1991.
A. Isidori. Nonlinear Control Systems, Springer-Verlag, 1995.
S. S. Sastry. Nonlinear Systems: Analysis, Stability, and Control, Springer-Verlag, 1999.
| August 28 | Introduction | ||
| September 2 | Modeling: Review of Linear Algebra | September 4 | Modeling: Coordinate Frames and Transformations |
| September 9 | Modeling: Robot Manipulators | September 11 | Modeling: Robot Manipulators |
| September 16 | Modeling: Aerial Vehicles | September 18 | Modeling: Aerial Vehicles |
| September 23 | Design: Review of Differential Equations | September 25 | Design: Simulation of Differential Equations |
| September 30 | Design: Lyapunov Stability | October 2 | Design: Lyapunov Stability |
| October 7 | Design: Linear Systems and Controllers | October 9 | Design: Linear Systems and Controllers |
| October 14 | Design: Input-Output Linearization | October 16 | Design: Input-Output Linearization |
| October 21 | No Class | October 23 | Midterm Exam |
| October 28 | Design: Sliding Mode | October 30 | Design: Sliding Mode |
| November 4 | Design: Back Stepping | November 6 | Design: Back Stepping |
| November 11 | Design: Design Examples | November 13 | Design: Design Examples |
| November 18 | Synthesis: Embedded Systems Architecture | November 20 | Synthesis: Embedded Systems Architecture |
| November 25 | No Class | November 27 | No Class |
| December 2 | Synthesis: System-level Controller Synthesis | December 4 | Synthesis: System-level Controller synthesis |
| December 9 | Synthesis: Hardware-In-The-Loop Simulation | December 11 | Synthesis: Hardware-In-The-Loop Simulation |
| December 16 | Project Presentation | December 18 | Final Exam |