This course is intended to discuss advanced topics in motion control systems. The subject that will be discussed include: generalization of the motion control tasks - tracking-force- impedance, bilateral control and control of haptic devices, handling nonlinearities in motion control, intelligent motion control systems, observers applications in motion control, unified approach to control of electro-mechanical converters, high precision motion measurement and control. As example systems with flexibility will be discussed.
Advanced Motion Control (EE 627)
2015 Fall
Faculty of Engineering and Natural Sciences
Electronics Engineering(EE)
3
10
Asif Şabanoviç asif@sabanciuniv.edu,
Click here to view.
English
Doctoral, Master
--
Formal lecture,Interactive lecture
Project based learning,Simulation,Case Study
Click
here
to view.
| Programs\Type | Required | Core Elective | Area Elective |
| Computer Science and Engineering - With Bachelor's Degree | * | ||
| Computer Science and Engineering - With Master's Degree | * | ||
| Computer Science and Engineering - With Thesis | * | ||
| Cyber Security - With Bachelor's Degree | * | ||
| Cyber Security - With Master's Degree | * | ||
| Cyber Security - With Thesis | * | ||
| Electronics Engineering and Computer Science - With Bachelor's Degree | * | ||
| Electronics Engineering and Computer Science - With Master's Degree | * | ||
| Electronics Engineering and Computer Science - With Thesis | * | ||
| Electronics Engineering - With Bachelor's Degree | * | ||
| Electronics Engineering - With Master's Degree | * | ||
| Electronics Engineering - With Thesis | * | ||
| Energy Technologies and Management-With Thesis | * | ||
| Industrial Engineering - With Bachelor's Degree | * | ||
| Industrial Engineering - With Master's Degree | * | ||
| Industrial Engineering - With Thesis | * | ||
| Leaders for Industry Biological Sciences and Bioengineering - Non Thesis | * | ||
| Leaders for Industry Computer Science and Engineering - Non Thesis | * | ||
| Leaders for Industry Electronics Engineering and Computer Science - Non Thesis | * | ||
| Leaders for Industry Electronics Engineering - Non Thesis | * | ||
| Leaders for Industry Industrial Engineering - Non Thesis | * | ||
| Leaders for Industry Materials Science and Engineering - Non Thesis | * | ||
| Leaders for Industry Mechatronics Engineering - Non Thesis | * | ||
| Manufacturing Engineering - Non Thesis | * | ||
| Manufacturing Engineering - With Bachelor's Degree | * | ||
| Manufacturing Engineering - With Master's Degree | * | ||
| Manufacturing Engineering - With Thesis | * | ||
| Materials Science and Nano Engineering-(Pre:Materials Science and Engineering) | * | ||
| Materials Science and Nano Engineering-(Pre:Materials Science and Engineering) | * | ||
| Materials Science and Nano Engineering - With Thesis (Pre.Name: Materials Science and Engineering) | * | ||
| Mechatronics Engineering - With Bachelor's Degree | * | ||
| Mechatronics Engineering - With Master's Degree | * | ||
| Mechatronics Engineering - With Thesis | * | ||
| Molecular Biology, Genetics and Bioengineering (Prev. Name: Biological Sciences and Bioengineering) | * | ||
| Molecular Biology, Genetics and Bioengineering-(Prev. Name: Biological Sciences and Bioengineering) | * | ||
| Molecular Biology,Genetics and Bioengineering-With Thesis (Pre.Name:Biological Sciences and Bioeng.) | * | ||
| Physics - Non Thesis | * | ||
| Physics - With Bachelor's Degree | |||
| Physics - With Master's Degree |
CONTENT
OBJECTIVE
This course is intended to teach students advanced concepts in mechanical motion control systems. The emphasis will be put on applied concepts and generic solutions in the motion control like: disturbance rejection, robustness, compensation of nonidealities. The concepts will discussed in the framework of SISO and MIMO systems like robotic manipulators, mobile robots, systems with flexible joints and flexible links, micro/nano manipulation, high precision systems and adaptronics systems will be discussed.
LEARNING OUTCOMES
- - Analyze and design of advanced motion control systems,
- - Design nonredundant multi-body motion control systems in free motion,
- - Design constrained nonredundant rigid multi-body motion control systems,
- - Design redundant rigid multi-body motion control systems in free motion,
- - Design constrained redundant rigid multi-body motion control systems,
- - Design functionally related motion control systems,
- - Design bilateral control systems without and with delay in measurement and control channels,
Update Date:
ASSESSMENT METHODS and CRITERIA
| Percentage (%) | |
| Term-Paper | 40 |
| Group Project | 40 |
| Homework | 20 |
RECOMENDED or REQUIRED READINGS
| Textbook |
Asif Sabanovic and Kouhei Ohnishi, Motion Control Systems, IEEE Press, John Willey & Sons (Asia) Pte Ltd, 2011, ISBN978-0-470-82573-0 |
| Readings |
D. K. Miu, Mechatronics-Electromechanics and Contromechanics, Springer Verlag 1993, ISBN 0-387-97893-3 |