|
|
AA/EE/ME 580 |
|
Instructor Prof. Kristi
A. Morgansen |
Office Hours TBD Gugg 318B |
This course provides tools for analysis and design of nonlinear control systems focusing on differential geometric methods. We will begin with a refresher of the tools covered in Manifolds and Geometry for Systems and Control (AA/EE/ME 570). From these tools we will rigorously investigate controllability, observability, feedback linearization,stability and control. Particular emphasis will be given to systems evolving on Lie groups and linearly uncontrollable systems. Examples will be drawn from robotics, quantum physics, materials processing, and computer vision.
Prerequisite: Manifolds and Geometry for Systems and Control (AA/EE/ME 570) or Linear Systems Theory (AA/EE/ME 547).
Lectures: T/TH
Homework section: T 1-2pm, Gugg. 305
Homework and Exam Policy
Collaboration on homework assignments is allowed. You may consult outside reference materials, other students, or the instructor. All solutions that are handed in should reflect your understanding of the subject matter at the time of writing. No collaboration is allowed on the midterm or the final exam.
Grading
The final grade will be based on homework, a midterm, a final exam and a project.
- Homework: 50%. There will be 8 homework assignments. Late homework will not be accepted without prior permission from the instructor.
- Midterm: 15% The midterm will be a take-home exam posted on Tuesday, April 29 and due Tuesday May 6.
- Final exam: 20% The final exam will most likely be a take-home exam.
- Project: 15% Each student will be required to complete a project based on techniques from the course. Guidelines are here. The system may be anything, and use of research topics is encouraged. Project plans are due April 22. Evaluation guidelines for the projects are here.
Homework Section: There will be an optional weekly homework solving section. In these sections, students will present the solutions to homework problems. This activity will help with technical presentation skills as well as problem solving techniques.
Course Text
The required reading source for the course is
- F. Bullo and A. D. Lewis, Geometric Control of Mechanical Systems, Springer, 2005.
Additional references are on reserve in the library:
- H. Nijmeijer and A van der Schaft, Nonlinear Dynamical Control Systems, Springer-Verlag, 1990.
- A. Isidori, Nonlinear Control Systems, 3 ed., Springer, 1995.
- H. Khalil, Nonlinear Systems, 2ed, Prentice Hall, 1995.
Schedule
Note: Kristi will be out of town April 4-13, and Dan Klein will be presenting lectures during that time.
Full notes text: Nonlinear Control
Date |
Topics |
Reading |
Ref Material |
Assignments |
Apr 1 |
Introduction |
aem580-lecture1-04152008 | Homework #1: Assignment
|
|
Apr 3 |
Lie brackets |
|
||
Apr 8 |
Lyapunov stability | stability notes | Homework #2: Assignment (Solutions) |
|
Apr 10 |
LaSalle stability |
|
||
Apr 15 |
Reachability | aem580-lecture5-04222008 | Homework #3:
Assignment
|
|
Apr 17 |
Frobenius' Theorem | aem580-lecture6-04222008 |
|
|
Apr 22 |
Controllability | aem580-lecture7-04222008 | Homework #4:
Assignment
|
|
Apr 24 |
aem580-lecture8-04242008 | |||
Apr 29 |
Observability | aem580-lecture9-04292008 | ||
May 1 |
||||
May 6 |
Feedback linearization | aem580-lecture11-05012008 | Homework #5: Assignment (Solutions)
|
|
May 8 |
||||
May 13 |
Optimal control | aem580-lecture13-05132008 | Homework #6: Assignment
|
|
May 15 |
||||
May 20 |
Homework #7: Assignment
|
|||
May 22 |
Backstepping | Khalil sections | ||
May 27 |
Sliding mode | Homework #8: Assignment
|
||
May 29 |
Approximate tracking | aem580-lecture18-06032008 | ||
Jun 3 |
Averaging theory | aem580-lecture19-06032008 | ||
Jun 5 |
Project presentations | |||
| FINAL EXAMINATION | FINAL (Solutions) |
Web page maintained by K. Morgansen (morgansn@u.washington.edu)
Last updated:
06-Jun-2008