Nonlinear Control of Robot Dynamics

This course will provide an introduction to nonlinear dynamical systems and emphasizes the role of control theory as one of the crucial components of robotics engineering. The course includes modeling the robotic system and designing controllers which include nonlinear controllers, PID, and model-based control algorithms. Theoretical analysis on the stability of the system for the developed controllers will also be covered. The course will have a descent combination of mathematical analysis and engineering design.

• Understand the fundamentals of nonlinear dynamical systems and control, familiarize with basic tools for stability analysis and controller design
• Ability to model a robotic system and design nonlinear controllers
• Analyze the controllers while ensuring stability, convergence and performance bounds