Difference between pages "ME115 2016" and "CDS110 2016"

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This is the homepage for ME 115(a,b) (Introduction to Kinematic and Robotics) for Winter/Spring 2016.
+
This is the course homepage for CDS 101/110, Fall 2016.
__NOTOC__
+
 
 
== Course Staff, Hours, Location ==
 
== Course Staff, Hours, Location ==
  
 
{| border=1 width=100%
 
{| border=1 width=100%
 
|-
 
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' || '''Email''' || '''Phone'''
+
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
 
|-
 
|-
 
| '''Instructor'''
 
| '''Instructor'''
 
| Joel Burdick
 
| Joel Burdick
 
| 245 Gates-Thomas
 
| 245 Gates-Thomas
| TBD
+
| ''send mail for an appointment''
 
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
 
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
 
| 626-395-4139
 
| 626-395-4139
 
|-
 
|-
 
| '''Teach Asst.'''
 
| '''Teach Asst.'''
| Krishna Shankar
+
| Richard Cheng
 
| 205 Gates-Thomas
 
| 205 Gates-Thomas
 
| TBD
 
| TBD
| [mailto:krishna@caltech.edu krishna at caltech dot edu]
+
| [mailto:georgiev@caltech.edu georgiev at caltech dot edu]
 
| 626-395-????
 
| 626-395-????
 
|-
 
|-
 
| '''Teach Asst.'''
 
| '''Teach Asst.'''
 +
| Yoke Peng Leong
 +
| Annenberg
 
| TBD
 
| TBD
| TBD
+
| [mailto:ypleong@caltech.edu ypleong at caltech dot edu]
| TBD
+
| [mailto:krishna@caltech.edu ??? at caltech dot edu]
+
 
| 626-395-????
 
| 626-395-????
 
|-
 
|-
Line 37: Line 37:
  
  
* '''Lecture Schedule:''' The lecture schedule seems to have stabilized. The currently planned lectures will take place at:
+
== Announcements ==
** Monday: 9:00 am  - 9:55 am in Gates-Thomas 135
+
** Wednesday: 12:00 pm - 12:55 pm in Gates-Thomas 135
+
** Friday:  10:00 am - 10:55 am in Gates-Thomas 135
+
  
== Course Text and References ==
+
== Course Syllabus, Mechanics, and Grading ==
  
The '''main course text''' is: 
+
CDS 101/110 provides an introduction to feedback and control in physical,
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]  
+
biological, engineering, and information sciences. The course will introduce students to the basic principles of
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course
+
feedback and its use as a tool for altering the dynamics of systems, meeting systems specifications, and
 +
managing system uncertainty. Key themes include: linear system theory
 +
input/output response, closed loop behavior, linear versus nonlinear
 +
models, and local versus global behavior.   
  
We will refer to this text as ''MLS'' (the initials of the authors last names). While the course topics will follow the text subjects, additional material not in the text will often be presented in class. Additional course handouts covering this material will be posted on this website
+
CDS 101 is a 6 unit (2-0-4) class intended for science
 
+
and engineering students who are interested in the principles and tools of feedback
== Course Syllabus ==
+
control, but not necessarily the engineering and analytical techniques for design and synthesis of control
 
+
systems. CDS 110 is a 12 unit class (3-0-9) that provides a traditional first
''Theoretical Kinematics'' is the study of motion and the analytical tools to represent motion, while  '''Applied Kinematics''' is the analysis and synthesis of mechanisms which implement given motions. This course presents a basic overview of theoretical kinematics, while the applied portions focus on robotic mechanisms.  
+
course in control for engineers and applied scientists. It assumes a working knowledge of linear algebra and
 
+
ODEs as a prerequisite (e.g., as found in ACM 95). Familiarity with complex variables (Laplace transforms, residue theory)
An [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/Overview2016.pdf overview] of the course, including course mechanics, grading, etc.  The most salient information is repeated below.
+
is helpful but not required. The basics of these topics will be reviewed during the course.
  
 
=== Grading ===
 
=== Grading ===
 +
The final grade will be based on homework sets, a midterm exam, and a final exam:
  
The final grade will be based on homework sets, and a final exam or final project:
+
*''Homework (50%):'' Homework sets will be handed out weekly and due on Wednesdays by 2 pm either in class or in the labeled box across from 107 Steele Lab.  Each student is allowed up to two extensions of no more than 2 days each over the course of the term.  Homework turned in after Friday at 2 pm or after the two extensions are exhausted will not be accepted without a note from the health center or the Dean.  MATLAB/Python code and SIMULINK/Modelica diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).
  
* ''' Homework (70%):''' Homework sets will be handed out every 7-10 days, and are due at 5 pm on the due date (which will always coincide with a class meeting). Homeworks can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas.  Some homeworks will require computation.  MATLAB or Mathematica should be sufficient to solve every homework posed in this course, though students can choose their favorite programming language. Code is considered part of your solution and should be included in with the problem set when appropriate.
+
* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (28 Oct) and due at the end of the midterm examination period (3 Nov). The midterm exam will be open book and computers will be allowed (though not required).  
  
* '''Final exam/project (30%):''' Students have the option to take a final exam (a limited time take-home format exam which is open book, open note, and computer allowed) or select a final project.  The final project must incorporate some aspect of the course, and the topic and scope my be approved by the course instructor. The final exam will due at 5:00 pm the last day of finals. The final project is similarly due at 5:00 pm on the last day of finals.
+
* ''Final exam (30%):''  The final exam will be handed out on the last day of class (4 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).
  
* '''Late Homework Policy:'''  Students may automatically take a 2-day extension on '''two''' homeworks during each quarter.
+
=== Collaboration Policy ===
  
=== Collaboration Policy ===
+
Collaboration on homework assignments is encouraged. You may consult
 +
outside reference materials, other students, the TA, or the
 +
instructor, but you cannot consult homework solutions from
 +
prior years and you must cite any use of material from outside
 +
references. All solutions that are handed in should be written up
 +
individually and should reflect your own understanding of the subject
 +
matter at the time of writing.  MATLAB/Python scripts and plots are
 +
considered part of your writeup and should be done individually (you
 +
can share ideas, but not code).
  
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor, but you must cite any use of material from outside references. All solutions that are handed in should be written up individually and should reflect
+
No collaboration is allowed on the midterm or final exams.
your own understanding of the subject matter.  Computer code and graphical plots are considered part of your solution, and therefore should be done individually (you can share ideas, but not code).  No collaboration is allowed on the examinations.
+
  
== Announcements ==
+
=== Course Text and References ===
* '''01/11/16:''' Homework #1 will be available during the evening of Mon., Jan. 11.  Due Wed. Jan 20.
+
* '''01/09/16:''' The class time is tentative set (see lecture schedule above)
+
* '''01/04/16:''' The class time (and probably location) will be changed in order to allow the maximum number of students to participate.  Look for updates.
+
  
== Course Schedule for ME115(a) ==
+
The primary course text is
 +
* K. J. Astrom and Richard M. Murray, [http://fbsbook.org ''Feedback Systems: An Introduction for Scientists and Engineers''], Princeton University Press, 2008
 +
This book is available via the Caltech online bookstore or via download from the [http://fbsbook.org companion web site].  Note that the second edition of this book is in preparation for publication and will serve as the primary text for the course (but almost all of the material we will cover is also in the first edition).
  
{| border=1 width=100%
+
The following additional references may also be useful:
|-
+
| Week || Date || Topic || Reading || Optional Reading || Homework
+
  
|-
+
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://www.mast.queensu.ca/~andrew/teaching/math332/notes.shtml Online access].
|  align=center rowspan=4 | 1
+
* J. Distefano III, A. R. Stubberud and Ivan J. Williams (Author), ''Schaum's Outline of Feedback and Control Systems'', 2nd Edition, 2013.  
| colspan=5|
+
=====Introduction and Review of Rigid Body Kinematics =====
+
|-
+
| 4 Jan (Mon.)
+
| Class Overview
+
| [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/Overview2016.pdf Course Overview], <br> [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page  Chapter 1 of MLS]
+
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from <em> Kinematic Synthesis of Linkages</em>)  
+
| rowspan=3 align=center | -No Homework-
+
|-
+
| 6 Jan (W)
+
| Planar Rigid Body Kinematics, <br> Planar displacements
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
+
| -N/A-
+
|-
+
| 8 Jan (F)
+
| Planar Rigid Body Displacements (''continued''), <br> Displacement groups  
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1],
+
| -N/A-
+
  
|-
+
In addition to the books above, the textbooks below may also be useful.  They are available in the library (non-reserve), from other students, or you can order them online.
| align=center rowspan=4 | 2
+
| colspan=5 |
+
  
===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
+
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.
|-
+
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.
| 11 Jan (M)
+
| Displacement groups, poles <br> [http://robotic.caltech.edu/~jwb/courses/ME115/Lectures/PlanarDisplacements.pptx Planar Displacements (PowerPoint)]
+
|
+
| -N/A-
+
| rowspan=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set1.16.pdf Homework 1], <br> (due Wed. Jan. 20)
+
  
|-
+
== Lecture Schedule ==
| 13 Jan (W)
+
| Example: Ellliptical Trammel, <br> Intro to Spherical Kinematics
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26],<br> [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/EllipticalTrammel.pdf Notes on the Elliptical Trammel]
+
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia)<br> [http://www.iftomm.org/iftomm/proceedings/proceedings_WorldCongress/WorldCongress07/articles/sessions/papers/A471.pdf Polyhedral Linkages Synthesized Using Cardan Motion Along Radial Lines]
+
|
+
  
|-
+
The following is a '''tentative''' schedule for the class, based on previous years' experience.
| 15 Jan (F)
+
| Spherical Kinematics (''continued''), <br> Classical Matrix Groups
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], <br> [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/rotation.pdf Notes on Rotations]
+
 
+
| -N/A-
+
  
 +
{| class="mw-collapsible wikitable" width=100% border=1 cellpadding=5
 
|-
 
|-
| align=center rowspan=4 | 3
+
| '''Date'''
| colspan=5 |
+
| '''Topic'''
 +
| '''Reading'''
 +
| '''Homework'''
 +
|- valign=top
 +
|- valign=top
 +
| '''Week 1'''<br>
 +
26 Sept <br>  28 Sept <br> 30 Sept.
 +
| Introduction and Review
 +
* Introduction to feedback and control
 +
* Review of differential equation and linear algebra
 +
* Feedback principles and examples
 +
| FBS-1e 1.1-1.2, 1.4-1.5 <br> FBS-2e 1.1-1.5 (skim), ''2.1-2.4''
 +
* {{cds110 fa15 pdf |bgsurvey.pdf | Background survey}}
 +
* {{cds110 fa15 pdf |L1-1_intro-28Sep15_h.pdf | Mon lecture notes}},
 +
* [[Media:ReviewLAODEs.pdf | Wed review session notes]] (PDF)
 +
| {{cds110 fa15 pdf |hw1-fa15.pdf | HW 1}} <br> Due: 7 Oct, 2 pm
  
===== Spherical Kinematics =====
+
{{cds110 fa15 pdf |caltech/hw1-fa15_solns.pdf | Solutions}} (Caltech access only)
|-
+
|- valign=top
| 18 Jan (M)
+
| '''Week 2'''<br>
| ''No Class'': '''Marin Luther King Holiday'''
+
3 Oct <br> 5 Oct <br> 7 Oct*
| -N/A-
+
| Modeling, Stability
| -N/A-
+
* State space models
| rowspan=3 align=center | No Homework
+
* Phase portraits and stability
|-
+
* Introduction to MATLAB
| 20 Jan (W)
+
| FBS-1e 2.1-2.2, 3.1 4.1-4.3 <br> FBS-2e 3.1-3.2, 4.1, 5.1-5.3
| Cayley's Theorem, <br> Exponential Coordinates Matrix Groups
+
* {{cds110 fa15 pdf |L2-1_modeling-05Oct15_h.pdf | Mon lecture notes}}
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
+
* {{cds110 fa15 pdf |L2-2_stability-07Oct15_h.pdf | Wed lecture notes}}
| -N/A-
+
| {{cds110 fa15 pdf |hw2-fa15.pdf | HW 2}} <br> Due: 14 Oct, 2 pm
|-
+
| 22 Jan (F)
+
| Euler Angles, Quaternions
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
+
| -N/A-
+
  
|-
+
{{cds110 fa15 pdf |caltech/hw2-fa15_solns.pdf | Solutions}} (Caltech access only)
| align=center rowspan=4 | 4
+
|- valign=top
| colspan=5 |
+
| '''Week 3'''<br>
 +
10 Oct* <br> 12 Oct* <br> 14 Oct*
 +
| Linear Systems
 +
* Input/output response of LTI systems
 +
* Matrix exponential, convolution equation
 +
* Linearization around an equilibrium point
 +
| FBS-1e  5.1-5.4 <br> FBS-2e 6.1-6.4
 +
* {{cds110 fa15 pdf |L3-1_linsys-12Oct15.pdf | Mon lecture slides}}
 +
* {{cds110 fa15 pdf |L3-3_recitation.pdf | Fri recitation slides}}
 +
| {{cds110 fa15 pdf |hw3-fa15.pdf|HW 3}} <br> Due: 21 Oct, 2 pm
 +
* Python: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/python/cartpend.py cartpend.py]
 +
* MATLAB: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend.m cartpend.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend_model.m cartpend_model.m]
 +
* SIMULINK: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/balance_simple.mdl balance_simple.mdl]
  
===== Spherical Kinematics (''continued'')=====
+
{{cds110 fa15 pdf |caltech/hw3-fa15_solns.pdf | Solutions}} (Caltech access only)
|-
+
|- valign=top
| 25 Jan (M)
+
| '''Week 4'''<br>
| Quaternions (''continued''), <br> Intro to Spatial Kinematics
+
17 Oct <br> 19 Oct <br> 21 Oct*
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
+
| State Feedback
| [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/algebra.pdf Notes on Algebras]
+
* Reachability
| rowspan=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set2.12.pdf Homework 2]
+
* State feedback and eigenvalue placement
 +
| FBS-1e 6.1-6.4 <br> FBS-2e 7.1-7.4
 +
* {{cds110 fa15 pdf |L4-1_statefbk-19Oct15_h.pdf | Mon lecture slides}}
 +
* MATLAB:  {{cds110 fa15 matlab|L4_1_statefbk.m}}, {{cds110 fa15 matlab |predprey.m}}, {{cds110 fa15 matlab |predprey_rh.m}}
 +
* Python: {{cds110 fa15 python|L4_1_statefbk.py}}, {{cds110 fa15 python|predprey.py}}
 +
|  {{cds110 fa15 pdf |hw4-fa15.pdf|HW 4}} <br> Due: 28 Oct, 2 pm
  
|-
+
[http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]
| 27 Jan (W)
+
* MATLAB: {{cds110 fa15 matlab|bike_linmod.m}}
| Spatial Displacments, <br> Chasle's Theorem
+
* Python: {{cds110 fa15 python|bike_linmod.py}}
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 35-50]
+
| -N/A-
+
|-
+
| 29 Jan (W)
+
| Spatial Displacements, <br> Exponential Coordinates
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3]
+
| -N/A-
+
  
|-
+
{{cds110 fa15 pdf |caltech/hw4-fa15_solns.pdf | Solutions}} (Caltech access only)
| align=center rowspan=4 | 5
+
|- valign=top
| colspan=5 |
+
| '''Week 5'''<br>
 +
24 Oct <br> 26 Oct <br> 28 Oct
 +
| State space control design
 +
* Trajectory generation, feedforward
 +
* Integral feedback
 +
* State estimation (if time)
 +
* Midterm review
 +
| FBS-1e 7.1-7.3 <br> FBS-2e 8.1-8.3
 +
| Midterm exam <br> Due: 3 Nov, 5 pm
  
===== Spatial Kinematics =====
+
{{cds110 fa15 pdf |caltech/midterm-fa15_solns.pdf | Solutions}} (Caltech access only)
|-
+
|- valign=top
| 1 Feb (M)
+
| '''Week 6'''<br>
| Spatial Displacements, <br> Exponential Coordinates
+
1 Oct <br> 2 Nov <br> 4 Nov*
| -N/A-
+
| Transfer Functions
| -N/A-
+
* Frequency domain modeling
| rowspan=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set3.12.pdf Homework 3]
+
* Block diagram algebra
 +
* Bode plots
 +
| FBS-1e 8.1-8.4 <br> FBS-2e 9.1-9.4
 +
* {{cds110 fa15 pdf |L6-1_xferfcns-02Nov15_h.pdf | Mon lecture slides}}
 +
* [[Media:Recitation_nov_6.pdf | Fri review session notes]] (PDF)
 +
| {{cds110 fa15 pdf |hw5-fa15.pdf | HW 5}} <br> Due: 11 Nov, 2 pm
  
|-
+
{{cds110 fa15 pdf |caltech/hw5-fa15_solns.pdf | Solutions}} (Caltech access only)
| 3 Feb (W)
+
|- valign=top
|  
+
| '''Week 7'''<br>
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3]
+
7 Nov <br> 9 Nov <br> 11 Nov*
| -N/A-
+
| Loop Analysis
 +
* Loop transfer function and the Nyquist criterion
 +
* Stability margins
 +
| FBS-1e 9.1-9.3 <br> FBS-2e 10.1-10.3
 +
* {{cds110 fa15 pdf |L7-1_loopanal-09Nov15_h.pdf | Mon lecture slides}}
 +
* {{cds110 fa15 pdf |L7-3_delay+nyquist.pdf | Fri recitation notes}}
 +
| {{cds110 fa15 pdf |hw6-fa15.pdf | HW 6}} <br> Due: 18 Nov, 2 pm
  
|-
+
{{cds110 fa15 pdf |caltech/hw6-fa15_solns.pdf | Solutions}} (Caltech access only)
| 5 Feb (F)
+
|- valign=top
| Intro to Rigid Body Velocities
+
| '''Week 8'''<br>
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 51-52]
+
14 Nov <br> 16 Nov* <br> 18 Nov
| -N/A-
+
| PID Control
 +
* Simple controllers for complex systems
 +
* Integral action and anti-windup
 +
| FBS-1e 10.1-10.4 <br> FBS-2e 11.1-11.4
 +
* {{cds110 fa15 pdf |L8-1_pid-16Nov15_h.pdf | Mon lecture slides}}
 +
* [[Media:Recitation_110_nov_17.pdf | Wed lecture slides]] (PDF)
 +
* [http://www.cds.caltech.edu/~murray/courses/cds110/fa15/minsegpid.py Fri PID example] (python)
 +
| {{cds110 fa15 pdf |hw7-fa15.pdf | HW 7}} <br> Due: 25 Nov, 2 pm
  
|-
+
{{cds110 fa15 pdf |caltech/hw7-fa15_solns.pdf | Solutions}} (Caltech access only)
| align=center rowspan=4 | 6
+
|- valign=top
| colspan=5 |
+
| '''Week 9'''<br>
 
+
21 Nov <br> 23 Nov <br> ''Thanksgiving Holiday''
===== Spatial Kinematics =====
+
| Loop Shaping, I
|-
+
* Sensitivity functions
| 8 Feb (M)
+
* Feedback design via loop shaping
| Spatial Kinematics: Homogeneous Coordinates and Chasle\'s Theorem
+
| FBS-1e 11.1-11.3 <br> FBS-2e 12.1-12.4
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.3]; [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/rodriguez.pdf Rodriguez' Displacement Equation];
+
* {{cds110 fa15 pdf |L9-1_loopsyn-23Nov15_h.pdf | Mon lecture slides}}
| -N/A-
+
* {{cds110 fa15 pdf |L9-2_recitation-25Nov15.pdf | Wed recitation slides}}
| rowspan=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set4.12.pdf Homework 4]
+
| {{cds110 fa15 pdf |hw8-fa15.pdf | HW 8}} <br> Due: 4 Dec, 2 pm
 
+
|-
+
| 10 Feb (W)
+
| Relations among various representations of displacements & motion capture
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.3]
+
| -N/A-
+
 
+
|-
+
| 12 Feb(F)
+
| Motion capture & Rigid Body Velocities
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.4]
+
| -N/A-
+
 
+
|-
+
| align=center rowspan=4 | 7
+
| colspan=5 |
+
 
+
===== Spatial Kinematics: Wrenches =====
+
|-
+
| 15 Feb (M)
+
| ''No Class:'' '''President's Day Holiday'''
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.3];
+
| -N/A-
+
| rowspan=3 align=center | -N/A-
+
|-
+
| 17 Feb (W)
+
| Wrenches and Poinsot\'s Theorem
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.4-2.5]
+
| -N/A-
+
|-
+
| 19 Feb(F)
+
| Screws and the Reciprocal Product
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.5]
+
| -N/A-
+
|-
+
| align=center rowspan=4 | 8
+
| colspan=5 |
+
 
+
===== Manipulators =====
+
|-
+
| 22 Feb (M)
+
| '''TBD'''
+
| -N/A-
+
| -N/A-
+
| rowspan=3 align=center | No Homework
+
 
+
|-
+
| 23 Feb (W)
+
| Manipulator Mechanisms and Lower Pair Joints
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3]
+
| -N/A-
+
 
+
|-
+
| 25 Feb(F)
+
| Denavit-Hartenberg Convention
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3],
+
| [https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters DH-Parameters] (from Wikipedia), <br> [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/DenavitHartenberg_Craig.pdf Scan from Craig Book] on D-H Parameters
+
|-
+
| align=center rowspan=4 | 9
+
| colspan=5 |
+
 
+
===== Forward/Inverse Kinematics =====
+
|-
+
| 29 Feb (M)
+
| Denavit-Hartenberg Convention (continued), Examples
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3]; [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/rodriguez.pdf Rodriguez' Displacement Equation];
+
| -N/A-
+
| rowspan=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set4.12.pdf Homework 5]
+
|-
+
| 2 Mar (W)
+
| Product of Exponentials Formula
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3]
+
| -N/A-
+
|-
+
| 4 Mar(F)
+
| Inverse Kinematics
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3]
+
| -N/A-
+
 
+
|-
+
| align=center rowspan=3 | 10
+
| colspan=5 |
+
 
+
===== Forward/Inverse Kinematics =====
+
|-
+
| 7 Mar (M)
+
| Denavit-Hartenberg Convention (continued), Examples
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3]; [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/rodriguez.pdf Rodriguez' Displacement Equation];
+
| -N/A-
+
| rowspan=2 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set4.12.pdf Homework 6]
+
|-
+
| 9 Mar (W)
+
| Product of Exponentials Formula
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3]
+
| -N/A-
+
  
 +
{{cds110 fa15 pdf |caltech/hw8-fa15_solns.pdf | Solutions}} (Caltech access only)
 +
|- valign=top
 +
| '''Week 10'''<br>
 +
28 Nov <br> 30 Nov. <br> 2 Dec
 +
| Loop Shaping II
 +
* Fundamental limitations
 +
* Modeling uncertainty
 +
* Performance/robustness tradeoffs
 +
| FBS-1e 11.4, 12.1-12.4 <br> FBS-2e 12.6-12.7, 13.1-13.3
 +
* {{cds110 fa15 pdf |L10-1_limits-30Nov15_h.pdf | Mon lecture slides}}
 +
* {{cds110 fa15 pdf |L10-2_pvtol-02Dec15_h.pdf | Wed lecture slides}}
 +
* [http://www.cds.caltech.edu/~murray/courses/cds110/fa15/pvtol-nested.py Wed PVTOL example] (python)
 +
| Final exam <br> Due 5 pm on last day of Final Exam Period
 +
* To be posted on-line
 
|}
 
|}

Revision as of 08:46, 26 September 2016

This is the course homepage for CDS 101/110, Fall 2016.

Course Staff, Hours, Location

Position Name Office Office Hours (changing weekly) Email Phone
Instructor Joel Burdick 245 Gates-Thomas send mail for an appointment jwb at robotics dot caltech dot edu 626-395-4139
Teach Asst. Richard Cheng 205 Gates-Thomas TBD georgiev at caltech dot edu 626-395-????
Teach Asst. Yoke Peng Leong Annenberg TBD ypleong at caltech dot edu 626-395-????
Administrative Sonya Lincoln 250 Gates-Thomas 7:30am-noon; 1:00pm-4:30pm lincolns at caltech dot edu 626-395-3385


Announcements

Course Syllabus, Mechanics, and Grading

CDS 101/110 provides an introduction to feedback and control in physical, biological, engineering, and information sciences. The course will introduce students to the basic principles of feedback and its use as a tool for altering the dynamics of systems, meeting systems specifications, and managing system uncertainty. Key themes include: linear system theory input/output response, closed loop behavior, linear versus nonlinear models, and local versus global behavior.

CDS 101 is a 6 unit (2-0-4) class intended for science and engineering students who are interested in the principles and tools of feedback control, but not necessarily the engineering and analytical techniques for design and synthesis of control systems. CDS 110 is a 12 unit class (3-0-9) that provides a traditional first course in control for engineers and applied scientists. It assumes a working knowledge of linear algebra and ODEs as a prerequisite (e.g., as found in ACM 95). Familiarity with complex variables (Laplace transforms, residue theory) is helpful but not required. The basics of these topics will be reviewed during the course.

Grading

The final grade will be based on homework sets, a midterm exam, and a final exam:

  • Homework (50%): Homework sets will be handed out weekly and due on Wednesdays by 2 pm either in class or in the labeled box across from 107 Steele Lab. Each student is allowed up to two extensions of no more than 2 days each over the course of the term. Homework turned in after Friday at 2 pm or after the two extensions are exhausted will not be accepted without a note from the health center or the Dean. MATLAB/Python code and SIMULINK/Modelica diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).
  • Midterm exam (20%): A midterm exam will be handed out at the beginning of midterms period (28 Oct) and due at the end of the midterm examination period (3 Nov). The midterm exam will be open book and computers will be allowed (though not required).
  • Final exam (30%): The final exam will be handed out on the last day of class (4 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).

Collaboration Policy

Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor, but you cannot consult homework solutions from prior years and you must cite any use of material from outside references. All solutions that are handed in should be written up individually and should reflect your own understanding of the subject matter at the time of writing. MATLAB/Python scripts and plots are considered part of your writeup and should be done individually (you can share ideas, but not code).

No collaboration is allowed on the midterm or final exams.

Course Text and References

The primary course text is

This book is available via the Caltech online bookstore or via download from the companion web site. Note that the second edition of this book is in preparation for publication and will serve as the primary text for the course (but almost all of the material we will cover is also in the first edition).

The following additional references may also be useful:

  • A. D. Lewis, A Mathematical Approach to Classical Control, 2003. Online access.
  • J. Distefano III, A. R. Stubberud and Ivan J. Williams (Author), Schaum's Outline of Feedback and Control Systems, 2nd Edition, 2013.

In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.

  • B. Friedland, Control System Design: An Introduction to State-Space Methods, McGraw-Hill, 1986.
  • G. F. Franklin, J. D. Powell, and A. Emami-Naeni, Feedback Control of Dynamic Systems, Addison-Wesley, 2002.

Lecture Schedule

The following is a tentative schedule for the class, based on previous years' experience.

Date Topic Reading Homework
Week 1

26 Sept
28 Sept
30 Sept.

Introduction and Review
  • Introduction to feedback and control
  • Review of differential equation and linear algebra
  • Feedback principles and examples
FBS-1e 1.1-1.2, 1.4-1.5
FBS-2e 1.1-1.5 (skim), 2.1-2.4
Template:Cds110 fa15 pdf
Due: 7 Oct, 2 pm

Template:Cds110 fa15 pdf (Caltech access only)

Week 2

3 Oct
5 Oct
7 Oct*

Modeling, Stability
  • State space models
  • Phase portraits and stability
  • Introduction to MATLAB
FBS-1e 2.1-2.2, 3.1 4.1-4.3
FBS-2e 3.1-3.2, 4.1, 5.1-5.3
Template:Cds110 fa15 pdf
Due: 14 Oct, 2 pm

Template:Cds110 fa15 pdf (Caltech access only)

Week 3

10 Oct*
12 Oct*
14 Oct*

Linear Systems
  • Input/output response of LTI systems
  • Matrix exponential, convolution equation
  • Linearization around an equilibrium point
FBS-1e 5.1-5.4
FBS-2e 6.1-6.4
Template:Cds110 fa15 pdf
Due: 21 Oct, 2 pm

Template:Cds110 fa15 pdf (Caltech access only)

Week 4

17 Oct
19 Oct
21 Oct*

State Feedback
  • Reachability
  • State feedback and eigenvalue placement
FBS-1e 6.1-6.4
FBS-2e 7.1-7.4
Template:Cds110 fa15 pdf
Due: 28 Oct, 2 pm

Bicycle dynamics

Template:Cds110 fa15 pdf (Caltech access only)

Week 5

24 Oct
26 Oct
28 Oct

State space control design
  • Trajectory generation, feedforward
  • Integral feedback
  • State estimation (if time)
  • Midterm review
FBS-1e 7.1-7.3
FBS-2e 8.1-8.3
Midterm exam
Due: 3 Nov, 5 pm

Template:Cds110 fa15 pdf (Caltech access only)

Week 6

1 Oct
2 Nov
4 Nov*

Transfer Functions
  • Frequency domain modeling
  • Block diagram algebra
  • Bode plots
FBS-1e 8.1-8.4
FBS-2e 9.1-9.4
Template:Cds110 fa15 pdf
Due: 11 Nov, 2 pm

Template:Cds110 fa15 pdf (Caltech access only)

Week 7

7 Nov
9 Nov
11 Nov*

Loop Analysis
  • Loop transfer function and the Nyquist criterion
  • Stability margins
FBS-1e 9.1-9.3
FBS-2e 10.1-10.3
Template:Cds110 fa15 pdf
Due: 18 Nov, 2 pm

Template:Cds110 fa15 pdf (Caltech access only)

Week 8

14 Nov
16 Nov*
18 Nov

PID Control
  • Simple controllers for complex systems
  • Integral action and anti-windup
FBS-1e 10.1-10.4
FBS-2e 11.1-11.4
Template:Cds110 fa15 pdf
Due: 25 Nov, 2 pm

Template:Cds110 fa15 pdf (Caltech access only)

Week 9

21 Nov
23 Nov
Thanksgiving Holiday

Loop Shaping, I
  • Sensitivity functions
  • Feedback design via loop shaping
FBS-1e 11.1-11.3
FBS-2e 12.1-12.4
Template:Cds110 fa15 pdf
Due: 4 Dec, 2 pm

Template:Cds110 fa15 pdf (Caltech access only)

Week 10

28 Nov
30 Nov.
2 Dec

Loop Shaping II
  • Fundamental limitations
  • Modeling uncertainty
  • Performance/robustness tradeoffs
FBS-1e 11.4, 12.1-12.4
FBS-2e 12.6-12.7, 13.1-13.3
Final exam
Due 5 pm on last day of Final Exam Period
  • To be posted on-line