03607341 Control Engineering for Robotics
Prerequisite: 01410260
3(3-0-6)

Mathematical models of basic robotic systems.
Closed-loop and open-loop control systems.
Transfer function.
Time-domain and frequency-domain analysis and design of control systems.
Bode plots.
System stability.
PID and modified PID controller.
Pole placement.
Quadratic optimal regulator.
State observers.
Applications of various controllers for robotic systems.

PART 1

What is control system.

Introduction about lecturer project
Two-wheeled robot
Two-wheeled vehicle
small humanoid robot
engine control unit
Diesel truck
Train Simulator
SCADA Plant and Lab Scale
Tank Simulator and Firing Control
ABB Robot /agriculture 2 / ETC / Steward
Aero Dynamic Lab
Pipe Inspection with KNS

Car Platoon

https://www.volpe.dot.gov/news/how-automated-car-platoon-works

Biped two-wheeled robot

https://www.mathworks.com/company/mathworks-stories/eth-zurich-students-design-and-build-jumping-robot.html

Matlab Tools / (To study) matlab & simulink

อาจารย์ บุคลากรและนิสิตทุกคนของมหาวิทยาลัยเกษตรศาสตร์ สามารถเข้าใช้โปรแกรม MATLAB ได้ที่ website ด้านล่าง โดยลงทะเบียนด้วย account@ku.th
Login KU Account
Download License ของ KU คลิ๊ก เรียนฟรีได้มากกว่า

ซื้อ Student License ราคา 29-55$ และ Toolkit ราคาตัวละ 6$
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วิธีลงเรียน Matlab

Matlab

1. Course Overview
   Familiarize yourself with the course.
   Course Overview
2. Commands
   Enter commands in MATLAB to perform calculations and create variables.
   Entering Commands
   Naming Variables
   Saving and Loading Variables
   Using Built-in Functions and Constants
3. MATLAB Desktop and Editor
   Write and save your own MATLAB programs.
   MATLAB Desktop and Editor
   The MATLAB Editor
   Running Scripts
4. Vectors and Matrices
   Create MATLAB variables that contain multiple elements.
   Manually Entering Arrays
   Creating Evenly-Spaced Vectors
   Array Creation Functions
5. Indexing into and Modifying Arrays
   Use indexing to extract and modify rows, columns, and elements of MATLAB arrays.
   Indexing into Arrays
   Extracting Multiple Elements
   Changing Values in Arrays
6. Array Calculations
   Perform calculations on entire arrays at once.
   Performing Array Operations on Vectors
7. Calling Functions
   Call functions to obtain multiple outputs.
   Obtaining Multiple Outputs from Function Calls
8. Obtaining Help
   Use the MATLAB documentation to discover information about MATLAB features.
   Obtaining Help
9. Plotting Data
   Visualize variables using MATLAB’s plotting functions.
   Plotting Vectors
   Annotating Plots
10. Review Problems
    Bring together concepts that you have learned with a project.
    Project – Electricity Usage
    Project – Audio Frequency
11. Importing Data
    Bring data from external files into MATLAB.
    Import Tool
    Importing Data as a Table
12. Logical Arrays
    Use logical expressions to help you to extract elements of interest from MATLAB arrays.
    Logical Indexing
13. Programming
    Write programs that execute code based upon some condition.
    Programming Constructs
    Decision Branching
    For Loops
14. Final Project
    Bring together concepts that you have learned with a project.
    Project – Stellar Motion
    Project – Stellar Motion II
15. Conclusion
    Learn next steps and give feedback on the course.
    Additional Resources
    Survey