MSc Advanced Control and Systems Engineering / Course details

BRIEF DESCRIPTION

(1) Applied Control

(1.1) Introduction

(1.2) Actuators and sensors

(1.3) Kinematics, path planning, and trajectory tracking

(1.4) Dynamics

(1.5) Advanced control for path planning and trajectory tracking

(1.6) Applications using digital twin and physical twin

(2) Autonomous Systems

(2.1) Introduction to probabilities

(2.2) Introduction to autonomous systems

(2.3) Uncertainty propagation in autonomous systems

(2.4) Map-based localization

(2.5) Mapping

(2.6) Introduction to SLAM (Simultaneous Localization and Mapping)

(2.7) Reactive navigation (navigation with obstacle avoidance)

(2.8) Path-planning

(2.9) Applications using a real robot and its digital twin

The aim of this course is to equip students with the theoretical knowledge and practical skills necessary to design and implement advanced control strategies and autonomous system algorithms. Students will focus on developing and testing these concepts through simluation-based environments, utilizing digital twin technologies to address complex problems in robotics, mobility and automation. This unit prepares students for emerging challenges and opportunities in the fields of control systems and autonomous systems. 

On successful completion of the course, a student will be able to:

ILO 1: Summarise the main levels of autonomy in mobile robotics, evaluate the uncertainties and how they propagate between the levels of autonomy and illustrate them with examples.

ILO 2: Describe different strategies for localisation, mapping, navigation, and path-planning and assess the benefits and limitations of different proprioceptive and exteroceptive sensors.

ILO 3: Design and implement nonlinear control algorithms for mobile robot navigation.

ILO 4: Analyse, evaluate and implement in Python the algorithms for complex robotic applications, simulated and real mobile robots i.e., for digital twin and for physical twin

ILO 5: Evaluate the environmental and societal impact of complex control systems.

ILO 6: Reflect the effectiveness of individual and teamwork.

Written Examination (50%)

2 hours, four questions, answer all questions.

Coursework and Practical Exam (50%)

Written Exam

Feedback is provided after exam board.

Lab and Coursework Assignments

Simulation based using the digital twin. Hardware based using the physical twin. .   

E. Slotine and W. Li, "Applied Nonlinear Control", Prentice-Hall, 1991.

R. Siegwart and I. R. Nourbakhsh, Introduction to Autonomous Mobile Robots, 1st ed. Cambridge, Massachusetts: The MIT Press, 2004.