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Lecturer(s)
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Cvejn Jan, doc. Ing. Ph.D.
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Course content
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Lyapunov theory of stability for autonomous and non-autonomous systems. Input-output theory of stability. Passive systems. Feedback linearization. Mathematical model of a robot manipulator and its properties. Algorithms of control of robots based on Lyapunov theory of stability, dynamic inversion and exact linearization. Adaptive and robust control of robots.
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Learning activities and teaching methods
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Work with text (with textbook, with book)
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Learning outcomes
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The subject deals with the methods of analysis and synthesis of non-linear control systems, especially with focus on robot control algorithms.
Obtaining knowledge in the area of control of nonlinear dynamic systems, especially robots.
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Prerequisites
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Knowledge of differential and integral calculus, linear algebra and fundamentals of control theory.
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Assessment methods and criteria
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Oral examination
Examination
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Recommended literature
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Khalil, H., K. Nonlinear Systems. 3rd edition.. Prentice Hall, 2001.
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Lewis, L. L.; Dawson, D. M.; Chaouki, T. A. Robot Manipulator Control - Theory and Practice. 2nd edition.. Marcel Dekker: Inc., 2004.
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Marquez H. J. Nonlinear Control Systems. Wiley & Sons, 2003.
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Siciliano, B.; Sciavicco, L.; Villani, L.; Oriollo, G. Robotics: Modelling, Planning and Control. Berlin, 2009. ISBN 9781846286414.
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