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Heidarali Talebi
  Courses 

 Adaptive Control Systems(SPRING_2019)

Aims:

The objective of the course is to introduce the fundamental and methods to deal with uncertain and varying parameters in control systems

Syllabus:

  • Backgrounds from Nonlinear Control
  • Parameter Estimation
  • Adaptive Observer
  • Adaptive Control State Feedback
  • Adaptive Control output Feedback
  • Adaptive Control output Feedback
  • Adaptive Control output Feedback
  • Robustness of Adaptive Control Systems
  • Parameter Estimation in discrete-time systems Projection Algorithm
  • Parameter Estimation in discrete-time systems Least Square Algorithm
  • Parameter Estimation Persistently Excitation
  • Passivity Analysis
  • Adaptive Prediction
  • Adaptive Predictive Control
  • Adaptive Pole Placement

Text Book:

  • 1- Stable Adaptive Systems, by K. Narendra2- Adaptive Filtering, Prediction, and Control by G. Goodwin


 Advanced Robotics(SPRING_2019)

Aims:

Syllabus:

    Text Book:




     Digital Control Systems(SPRING_2019)

    Aims:

    This course aims to address the issues pertaining to design and implementation of computer controlled systems

    Syllabus:

    • Discrete, Dynamic Systems Analysis: The Z-Transform
    • Properties of the Z-Transform
    • Sampled-Data Systems
    • Sampled-Data Systems
    • Digital Filter
    • Quantization Effects
    • Real-Time and Discretization Issues
    • Real-Time and Discretization Issues
    • Real-Time Operating Systems
    • Real-Time Operating Systems
    • Software and Hardware Platforms
    • MATLAB/SIMULINK and xPC Target
    • MATLAB/SIMULINK and xPC Target
    • Control Algorithms and Procedures
    • Control Algorithms and Procedures

    Text Book:

    • C.L. Phillips and H.T. Nagle, Digital System Control Analysis and DesignPrentice Hall, .


     Digital Control Systems Lab.(SPRING_2019)

    Aims:

    Digital Control Implementation Platforms

    Syllabus:

    • Introduction To Raspberry Pie 3
    • Start Up and Network Connection
    • Serial Port and IO Relation
    • Wireless Connection
    • Python and Application Library
    • Python and Raspberry Pie
    • UGV Robot
    • Introduction to SR05 Sensors
    • Introduction to ESP8266 Module
    • Web Server and Robot Control
    • Real-Time Workshop and Windows Target
    • Computer Control Implementation Issues
    • Computer Control of UGV Robot

    Text Book:

    • Li, Qing, and Caroline Yao. Real-time concepts for embedded systems. CRC Press, 2003.


     Linear Control Systems(FALL_2018)

    Aims:

    Syllabus:

      Text Book:




       Linear Control Systems(FALL_2018)

      Aims:

      Syllabus:

        Text Book:




         Adaptive Control Systems(SPRING_2018)

        Aims:

        The objective of the course is to introduce the fundamental and methods to deal with uncertain and varying parameters in control systems

        Syllabus:

        • Backgrounds from Nonlinear Control
        • Parameter Estimation
        • Adaptive Observer
        • Adaptive Control State Feedback
        • Adaptive Control output Feedback
        • Adaptive Control output Feedback
        • Adaptive Control output Feedback
        • Robustness of Adaptive Control Systems
        • Parameter Estimation in discrete-time systems Projection Algorithm
        • Parameter Estimation in discrete-time systems Least Square Algorithm
        • Parameter Estimation Persistently Excitation
        • Passivity Analysis
        • Adaptive Prediction
        • Adaptive Predictive Control
        • Adaptive Pole Placement

        Text Book:

        • 1- Stable Adaptive Systems, by K. Narendra2- Adaptive Filtering, Prediction, and Control by G. Goodwin


         Digital Control Systems(SPRING_2018)

        Aims:

        This course aims to address the issues pertaining to design and implementation of computer controlled systems

        Syllabus:

        • Discrete, Dynamic Systems Analysis: The Z-Transform
        • Properties of the Z-Transform
        • Sampled-Data Systems
        • Sampled-Data Systems
        • Digital Filter
        • Quantization Effects
        • Real-Time and Discretization Issues
        • Real-Time and Discretization Issues
        • Real-Time Operating Systems
        • Real-Time Operating Systems
        • Software and Hardware Platforms
        • MATLAB/SIMULINK and xPC Target
        • MATLAB/SIMULINK and xPC Target
        • Control Algorithms and Procedures
        • Control Algorithms and Procedures

        Text Book:

        • C.L. Phillips and H.T. Nagle, Digital System Control Analysis and DesignPrentice Hall, .


         Introduction to Robotics(FALL_2017)

        Aims:

        This course will introduce the basic concepts, principles and techniques involved in modeling, simulation, building and control of robot manipulators.

        Syllabus:

        • Spatial descriptions and transformations
        • Manipulator forward and inverse kinematics
        • Velocity Kinematics
        • Jacobians: velocities and static forces
        • Conceptual design of the course project
        • Manipulator dynamics
        • Path Planning
        • Preliminary design of the course project
        • Position control of manipulators in both task space and joint space
        • Position control of manipulators in both task space and joint space
        • Force and impedance control of manipulators
        • Detail design of course project
        • Tele(medical)-robotics
        • Modeling, control and simulation of the course project in MATLAB
        • Construction of the course project robot and performing the experiments
        • Construction of the course project robot and performing the experiments

        Text Book:

        • J.J. Craig, " Introduction to Robotics: Mechanics and Control", 3rd Edition, Pearson Prentice Hall, Upper Saddle River, NJ, 2004


         Linear Control Systems(FALL_2017)

        Aims:

        Syllabus:

          Text Book:




           Linear Control Systems(FALL_2017)

          Aims:

          Syllabus:

            Text Book:




             
             
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