- Lecturer
- Imura Jun-Ichi
- Place
- Mon3-4(H112)
- Credits
- Lecture2 Exercise0 Experiment0
- Code
- 77059
- Syllabus updated
- 2015/2/12
- Lecture notes updated
- 2015/2/12
- Semester
- Spring Semester
Outline of lecture
Mathematical approaches to control methods for realizing robot intelligence are discussed. In particular, control theory of hybrid dynamical systems, foundations on simultaneous localization and mapping (SLAM) for robot motion planning, and control theory on integrated information process of perception, decision, and motion are introduced.
Purpose of lecture
Hybrid control theory, which is one of the mathematical approaches to control for realizing robot intelligence, is discussed.
Plan of lecture
1. Introduction to hybrid control theory
2. Hybrid dynamical systems model
3. Mixed Logical Dynamical Model
4. Model Predictive Control
5. Integrated model of perception, decision, and motion in human information process
6. Future topics
Textbook and reference
蜿り譖ｸ遲
繝ｻA.J. van der Schaft, M.J. Schumacher, An introduction to hybrid dynamical systems, Lecture Notes in Control and Information Sciences 251, Springer 2000
繝ｻA. Bemporad and M. Morari, Control of systems integrating logic, dynamics, and constraints, Automatica, Vol.35, ｽ撰ｽ撰ｼ407-427, 1999
Related and/or prerequisite courses
Students are recommended to study Linear Systems and Control.
Evaluation
Final exam
