AKTU Control of Robotic Systems (MNRB701) Syllabus PDF – B.Tech Minor Degree in Robotics

Course Objective: This course aims to develop the understanding of control systems, its designing and application.

Course Content

Module 1: Basics of Control: Differential Equation, Transfer function,

Frequency response, Routh-Hurwitz test, relative stability, Root locus design, construction of root loci, phase lead and phase-lag design, lag-lead design, Bode, polar, Nyquist plot.

Module 2: Linear Control: Concept of states, state space model,

different form, controllability, observability; pole placement by state feedback, observer design, P, PI & PID Controller, control law partitioning, modelling and control of a single joint.

Module 3: Non-Linear Control System: Common physical non-linear

system, phase plane method, system analysis by phase plane method, stability of non-linear system, stability analysis by describing function method, Liapunov’s stability criterion, the control problems for manipulators.

Module 4: Motion Control: Point to Point Control, trajectory

generation, Continuous Path Control, Joint based control, Cartesian Control, Force Control, hybrid position/force control system.

Text Books

1. M. Gopal, Control Systems, McGraw-Hill (2012)
2. K. Ogata, “Modern Control Engineering”, Prentice Hall India (2009).
3. M. Spong, M. Vidyasagar, S. Hutchinson, Robot Modeling and Control, Wiley & Sons, (2005).
4. J. J. Craig, “Introduction to Robotics: Mechanics and Control”, 3rd edition, Addison-Wesley (2003).
5. S. K. Saha, Introduction to Robotics 2e, TATA McGraw Hills Education (2014).
6. Thomas Kailath, “Linear Systems”, Prentice Hall (1980).
7. Alok Sinha, “Linear Systems: Optimal and Robust Control”, Taylor & Francis (2007).

Course Outcomes: After completion of course, students would have thorough understanding of linear, non-linear control systems and Motion Control. *****