Course title
1M9848001
Advanced Control on Mechanical Systems

 SHIMADA Akira Click to show questionnaire result at 2018
Course content
The control engineers should study some latest control theories and techniques on mechatronic systems to improve practical systems. This class introduces model predictive control and non-holonomic control as the typical control techniques.
Purpose of class
To understand the basic theory related to mechatronics control technology
Goals and objectives
  1. To be able to design 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.
  4. To be able to desin control programs with MATLAB /Simulink
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． Controller design with MATLAB/Simulink Submition of MATLAB program for the requested problem. 180minutes
3． Digital controller design Submition of MATLAB program for the requested problem. 180minutes
4． Nonlinear programming with Fmincon function Submition of MATLAB program for the requested problem. 180minutes
5． Modeling for predictive control Submition of MATLAB program for the requested problem. 180minutes
6． Model predictive control without constraints Submition of MATLAB program for the requested problem. 180minutes
7． Model predictive control with constraints Submition of MATLAB program for the requested problem. 180minutes
8． Model predictive control with DOB Submition of MATLAB program for the requested problem. 180minutes
9． Introduction to non-holonomic systems Submition of MATLAB program for the requested problem. 180minutes
10． Nonlinear feedback and kinematic equation Submition of MATLAB program for the requested problem. 240minutes
11． Chained system design Submition of MATLAB program for the requested problem. 220minutes
12． Basic controller design of nonholonomic systems Submition of MATLAB program for the requested problem. 200minutes
13． Controller design of nonholonomic systems Submition of MATLAB program for the requested problem. 180minutes
14． Advanced Controller design of nonholonomic systems Submition of MATLAB program for the requested problem. 200minutes
Total. - - 2660minutes
Relationship between 'Goals and Objectives' and 'Course Outcomes'

 Problems Total.
1. 15% 15%
2. 15% 15%
3. 15% 15%
4. 55% 55%
Total. 100% -
Evaluation method and criteria
Brief reports or programs are evaluated.
Textbooks and reference materials
Akira Shimada: Disturbance observer ,Corona-sha
Akira Shimada: EE text Motion Control, Ohm-sya
Prerequisites
Introduction of control theory
Office hours and How to contact professors for questions
  • Basically tuesday afternoon. But it is desirable to make an appointment on Email<ashimada@sic.shibaura-it.ac.jp>
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
Course by professor with work experience
Work experience Work experience and relevance to the course content if applicable
Applicable Experience of development of industrial robot controller.
Education related SDGs:the Sustainable Development Goals
  • 4.QUALITY EDUCATION
  • 7.AFFORDABLE AND CLEAN ENERGY
  • 9.INDUSTRY, INNOVATION AND INFRASTRUCTURE
Last modified : Fri Mar 18 22:00:33 JST 2022