Course title
1M984800
Advanced Control on Mechanical Systems

 shimada akira
Course content
Controller design of multi-input multi-output mecanical sysyeyms such as humanoid robots needs deep consideration for their mechanical essential property. For example, for the modeling of robot hands or inverted pendulum type vehicle robots, we should define Lagragian multiplier before derivation of the equations of motion. Moreover, The student studying motion control technology should try to control experiment in practice.
Purpose of class
To undestand the basic theory related to mechatronics control technology
Goals and objectives
  1. To be able todesign mathematical model corresponding to electrical mechanical systems.
  2. To be able to basic design nonlinear control system
  3. To be able to design controller with model predictive control theory.
Language
Japanese
Class schedule

 Class schedule HW assignments (Including preparation and review of the class.) Amount of Time Required
1． Guidance: What's mechanical system control ? Submition of MATLAB program for the requested problem. 180minutes
2． Coordinate frames and generalized coordinates Submition of MATLAB program for the requested problem. 180minutes
3． Pricise methematical modeling Submition of MATLAB program for the requested problem. 180minutes
4． Lagrange's equation of motion Submition of MATLAB program for the requested problem. 180minutes
5． Lagrange's equation of motion considering electrical motors Submition of MATLAB program for the requested problem. 180minutes
6． Lagrange's multiplier Submition of MATLAB program for the requested problem. 180minutes
7． Controller design of motion for inverted pendulums Submition of MATLAB program for the requested problem. 180minutes
8． Lyapunov stability theory Submition of MATLAB program for the requested problem. 180minutes
9． Introduction of Sliding mode control (SMC) Submition of MATLAB program for the requested problem. 180minutes
10． Controller design of SMC Submition of MATLAB program for the requested problem. 240minutes
11． Introduction to non-holonomic systems Submition of MATLAB program for the requested problem. 220minutes
12． Controller design of nonholonomic systems Submition of MATLAB program for the requested problem. 200minutes
13． Introduction to Model predictive control (MPC) Submition of MATLAB program for the requested problem. 180minutes
14． Controller design of MPC Submition of MATLAB program for the requested problem. 200minutes
Total. - - 2660minutes
Relationship between 'Goals and Objectives' and 'Course Outcomes'

 Problems Total.
1. 35% 35%
2. 35% 35%
3. 30% 30%
Total. 100% -
Evaluation method and criteria
Brief reports or programs are evaluated.
Textbooks and reference materials
A.Shimada: EE text Motion Control, Ohm-sya
Prerequisites
Introduction of control theory
Office hours and How to contact professors for questions
  • Please send a e-mail to <ashimada@sic.shibaura-it.ac.jp>
Relation to the environment
Non-environment-related course
Regionally-oriented
Non-regionally-oriented course
Development of social and professional independence
  • Course that cultivates an ability for utilizing knowledge
  • Course that cultivates a basic problem-solving skills
Active-learning course
Most classes are interactive
Last modified : Wed Oct 17 07:37:33 JST 2018