Your learning on this unit
An overview of content
The unit consists of two theoretical components (multivariable and nonlinear control) plus a practical one (implementing control of a simple robotic manipulator, via simulation and/or physically).
Multivariable control relies heavily on matrix-based formulations of the system. This approach readily expands to allow control of systems with arbitrarily large numbers of inputs and outputs.
Nonlinear control describes typical sources of system nonlinearities and introduces some commonly used techniques for their analysis and control.
The practical component of the unit will require students to work in small groups, implementing the above concepts and prior pertinent knowledge as appropriate to control the trajectory of a robotic manipulator. Example tasks could be to draw a specified shape, or a pick-and-place activity. This will be carried out in simulation and/or physically. Some knowledge of programming will be assumed. The grade awarded will be determined by factors such as the speed and accuracy with which the tasks are achieved, and the actuator energy consumed.
How will students, personally, be different as a result of the unit
Students will be able to understand and contribute towards the analysis and control of a wider range of systems.
They will have increased exposure to a mathematically rigorous systems-based way of thinking.
Their modelling and practical skills will improve.
Learning Outcomes
Referring to the Bristol Skills Framework: this unit will increase students’ subject matter expertise and application of knowledge within the scope of the unit. It will also add to their experience of collaborative working.
Knowledge and Comprehension will be improved via the in-person and online lectures; Application, Analysis, Synthesis and Evaluation will be indispensable to the coursework.
More specifically: Upon successful completion of the unit, students will be able to:
Design a range of controllers in state-space for linear multivariable dynamical systems.
Describe nonlinearities and apply suitable theory to design controllers for nonlinear systems.
Use programming tools to control and evaluate the performance of a robot’s movement.
