本文仅供学习使用
本文参考：
B站：CLEAR_LAB
课程主讲教师：
Prof. Wei Zhang
南科大高等机器人控制课 Ch00 课程简介
1. What is this course about?
- Develop a solid foundation in robot modeling and control to conduct cutting edge research in robotics
Math : Linear Algebra, Optimization
Modeling: Advanced rigid body kinematics and dynamics(screw theory and spatial vectors)
Optimization: learn how to formulate robotic decision and control problem as tractable optimization problems
Control: Nonlinear control, optimal control, Model Predictive Control (Lyapunovfunc)
- Journal : TR-O, IJRR, ICRA, IROS
2. Tentative Schedule暂定时间表
- Continuous time linear systems and Matrix Exponential
- Advanced Kinematics and Dynamics
2.1 Rigid body configuration and velocity
2.2 Exponential coordinate of rigid body motion
2.3 Kinematics of open chain
2.4 Rigid body dynamics
2.5 Multibody dynamics(Recursive Newton-Euler Algorithm, inverse and forward dynamics) - Basic Optimization
3.1 Optimization problems and basicduality theory([数] 对偶理论; 二元论)
3.2 Semi-definite Programming(SDP) and linear matrix inequalities - Nonlinear Stability and Stabilization
4.1 Lyapunov stability theory
4.2 Numerical construction of Lyapunov functions via semi-definite programming
4.3 Control-Lyapunov Function for stabilization - Basic Robot Control
5.1 Differential IK
5.2 Robot Motion Control(Computed Torque Method Task-space Inverse Dynamics-TSID) - Optimal Control and Model Predictive Control
6.1 Optimal control problem and dynamic programming
6.2 Model Predictive Control for Linear Systems
6.3 General MPC Theory(Closed-loop stability, recursive feasibility)
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