Nonlinear Control of Autonomous and Robotic Systems
| Students: | Elective master program (Catalogue: Process dynamics) |
| Lecturer: | Prof. Dr. Erdal Kayacan |
| Credit points | 6 |
This course provides a comprehensive introduction to nonlinear control theory, focusing on applications in robotic and autonomous systems. Students will explore mathematical tools for analyzing and designing robot control systems, including Lyapunov stability, feedback linearization, sliding mode control, and adaptive control techniques. The course will cover real-world applications such as robotic arms, drones, and autonomous vehicles. By the end of the course, students will develop a deep understanding of nonlinear control systems and their practical implementations in complex, dynamic environments.
1. Introduction to nonlinear systems and control
2. Feedback linearization and input-output linearization
3. Lyapunov-based stability analysis and control design
4. Sliding mode control
5. Advanced topics in nonlinear control
6. Case studies and applications