ROB 515
Advanced Robot Controls
Advisory Prerequisite: ROB 314 or ROB 514 or equivalent. Enforced Prerequisite: Graduate standing. (3 credits) Advanced feedback control design/analysis for robotics applications, including linear and nonlinear systems. Modern control topics include state feedback control, controllability/observability, LQR/LQI/LQE control, Lyapunov stability theory, multivariable PD control, joint- and task-space inverse dynamics, adaptive control, passivity-based control, force & impedance control, feedback linearization, nonholonomic systems, underactuated control, and model predictive control.
Topics
- state feedback control
- controllability/observability
- LQR/LQI/LQE control
- Lyapunov stability theory
- multivariable PD control
- joint- and task-space inverse dynamics
- adaptive control
- passivity-based control
- force & impedance control
- feedback linearization
- nonholonomic systems
- underactuated control
- and model predictive control
Topics explicitly listed in official catalogue description
Sources
- Course catalogue ↗2026-2027