During the exam, the student must demonstrate full comprehension on the three main topics of the course:
1) Control of Fully Actuated Mechanical Systems
(that is, systems having the number of actuators equal to the Lagrangian coordinates):
application and simulation of control schemes: computed torque, arimoto, robust control, adaptive control.
2) Analysis of the structural properties of non linear systems and their applications:
qualitatve analysis of the properties of accessibility and attainability, observability, identifiability of robotic systems
3) Non linear Control: application and simulation of Lyapunov control functions, feedback linearization input-state and input-output, control of anolomic systems, backstepping control of dynamics on cynematic model reference.
4) Project: the student is required to present a project on an advanced topic in Robotcs. The project must tackle a problem that must be clearly formulated in presenting a theory or application, and must be solved through an exhaustive analysis of available technologies and methods. The project must demonstrate original content, therefore the presentation of results from existing published work will not be permitted. The student has two months to complete the project upon official presentation and approval by the instructor and teaching assistants.
The course is considered completed upon the presentation of a final report that consists of material produced and developed along the duration of the course including exercises on the first three topics, and a report relating to the project. The student's own work will be discussed in presentation form with the instructor and fellow students.