# Unit information: Control and Robotics in 2021/22

Unit name Control and Robotics MENGM0057 20 M/7 Teaching Block 1 (weeks 1 - 12) Dr. Antonia Tzemanaki Not open MENG11511 Computer Based Modelling 1 EMAT10100 Engineering Mathematics 1 MENG21712 Modelling 2 MENG22200 Dynamics & Control 2 MENG30006 Behaviour of Dynamic Systems or equivalent None Department of Mechanical Engineering Faculty of Engineering

## Description including Unit Aims

This course extends the students' knowledge of Systems and Control Engineering by introducing the main concepts of linear multivariable system dynamics and control, stability and control of nonlinear systems and their application to robotic manipulators.

The syllabus includes analysis and control of multi-variable systems; development of observers to estimate states for control purpose; an introduction to nonlinear systems, Lyapunov stability methods and control of nonlinear systems; how to make robots move efficiently and accurately to achieve desired aims by exploring fundamental aspects of robotic mechanisms: mechanics of robot bodies, serial mechanisms’ kinematics and dynamics modelling.

## Intended Learning Outcomes

Upon successful completion of the unit, students will be able to:

1. Model and solve state-space equations of linear multivariable systems.
2. Design a range of controllers satisfying different performance requirements for linear multivariable dynamical systems.
3. Use an observer to estimate a state, when it is not measurable, for linear multivariable control purposes.
4. Develop an understanding of nonlinearities and the requirements for nonlinear control
5. Apply Lyapunov stability theory and feedback linearization to control systems.
6. Analyse and synthesise a robot manipulator for a variety of tasks using appropriate techniques and terminology.
7. Make use of programming tools to control a robot’s movement in a purposeful manner based on its kinematic and dynamic model.
8. Evaluate the performance of the algorithms by interpreting the behaviour of the robot.

## Teaching Information

Learning material including videos, notes and narrated lectures will be made available to the students support by online and, where possible, face to face interactions for problem solving and computer-based activities.

## Assessment Information

Single summative examination assessing all learning outcomes.

## Resources

If this unit has a Resource List, you will normally find a link to it in the Blackboard area for the unit. Sometimes there will be a separate link for each weekly topic.

If you are unable to access a list through Blackboard, you can also find it via the Resource Lists homepage. Search for the list by the unit name or code (e.g. MENGM0057).

How much time the unit requires
Each credit equates to 10 hours of total student input. For example a 20 credit unit will take you 200 hours of study to complete. Your total learning time is made up of contact time, directed learning tasks, independent learning and assessment activity.