Introduction: Parametric models of dynamical systems, Adaptive control problem Real time parameter estimation: Least squares and regression models, Estimating parameters in Dynamical Systems, Experimental conditions, Prior information, MLE, RLS, Instrument variable method. Deterministic Self tuning regulators (STR): Pole placement design, Indirect self tuning regulators, Continuous time self-tuners, Direct self-tuning regulators, disturbances with known characteristics.

Introduction: Components and mechanisms of robotic systems, Robot Manipulators, Wheeled Robots, Legged robots, Autonomous Robots, Joint actuators and Sensors.

Robot Kinematics: Rotation Kinematics, Rotation matrix, Euler angles, Axis-angle representation, Rodrigues formula, Different types of Coordinate transformations, Kinematics of rigid motion, Homogeneous transformation, Modified DH Convention, Typical examples

Mobile Robotics: Introduction to mobile robots, Nonholonomic constraints, Kinematic models. Unicycle, Bicycle, Chained form, Dynamic model of mobile robots. Trajectory Planning: Path and Timing laws, Flat outputs, Path planning, Trajectory planning, Optimal trajectories. Motion Control: Trajectory tracking, Cartesian regulation, Posture regulation, Odometric localization.

• Midterm evaluation is based on interim report and presentation before a committee
• A final report in the prescribed format on the literature survey, theoretical analysis, design guidelines, simulation and experimental results etc. to be submitted to the committee during end semester evaluation
• Final evaluation is done based on the technical presentation before an expert committee, report submitted and supervisor’s assessment

• Midterm evaluation is based on interim report and presentation before a committee
• A final report in the prescribed format on the literature survey, theoretical analysis, design guidelines, simulation and experimental results etc. to be submitted to the committee during end semester evaluation
• Final evaluation is done based on the technical presentation before an expert committee, report submitted and supervisor’s assessment

• Refer Elective List

• Refer Elective List

• Modelling and simulation of a physical systems
• Control system design using time and frequency domain methods
• Experimental validation/demonstration

Note: Students are advised to do projects independently. Evaluation is based on midterm and final presentation of the work done.

Nonlinear Control: An introduction to vector fields, flows and integral curves of differential equations, Lie Brackets, Frobenious theorem, Orbits, accessibility and controllability, Control design based on Liapunov’s method

Feedback Linearization: Feedback Linearization and the canonical form, Input‐state Linearization of SISO systems, Input output Linearization of SISO systems

Basic mathematical concepts: Finite dimensional optimization, Infinite dimensional optimization, Conditions for optimality, Performance measures for optimal control problems.