3.0

credits

Average Course Rating

The course starts with a brief introduction to nonlinear systems and covers selected topics related to model-based trajectory planning and feedback control. Focus is on applications to autonomous robotic vehicles modeled as underactuated mechanical systems subject to constraints such as obstacles in the environment. Topics include: nonlinear stability, stabilization and tracking, systems with symmetries, differential flatness, backstepping, probabilistic roadmaps, stochastic optimization. Recommended Course Background: multi-variable/differential calculus, AS.110.302, AS.110.201, undergraduate linear control, basic probability theory.