NONLINEAR CONTROL TECHNIQUES

NONLINEAR CONTROL TECHNIQUES

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iten
Codice
86738
ANNO ACCADEMICO
2020/2021
CFU
5 cfu al 1° anno di 10635 ROBOTICS ENGINEERING (LM-32) GENOVA
SETTORE SCIENTIFICO DISCIPLINARE
ING-INF/04
LINGUA
Inglese
SEDE
GENOVA (ROBOTICS ENGINEERING )
periodo
2° Semestre
materiale didattico

OBIETTIVI E CONTENUTI

OBIETTIVI FORMATIVI

Students are introduced to basic concepts from differential geometry and differential algebra which are instrumental for controllability and observability criteria. The course features control algorithms as the computed torque, popular in robotics, or feedback linearization. Basics from Lyapunov theory are reviewed and applied to control Lyapunov functions which are instrumental for practical robust control algorithms as sliding modes or backstepping.

DOCENTI E COMMISSIONI

Commissione d'esame

CLAUDE MOOG (Presidente)

ESAMI

Modalità d'esame

Scritto