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Apr 24, 2024
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EE 6103 - Vehicle Control
Introduction to vehicle motion control theory and design. Mathematical modeling of aerospace, ground and marine vehicle motions in 6 Degrees-of-Freedom using (nonlinear differential) state equations will be introduced. Simplification assumptions and techniques are provided for the vehicle models to facilitate effective motion controller design. Stabilization and trajectory tracking controller design methods based on closed-loop dynamics assignment are taught along with computer simulations. An overview of more advanced topics will be provided to prepare the students for continuing studies.
Requisites: EE 6283
Credit Hours: 3
Repeat/Retake Information: May not be retaken.
Lecture/Lab Hours: 3.0 lecture
Grades: Eligible Grades: A-F,WP,WF,WN,FN,AU,I
Learning Outcomes:
- Ability to design a vehicle stabilization and trajectory tracking controller using linear state feedback with output integral feedback and observer methods.
- Ability to model rigid-body aerial, ground, and marine vehicle motions.
- Ability to simplify a vehicle dynamics model based on realistic assumptions by linearization, frozen-time, mode decoupling and order methods.
- Ability to verify the controller design by simulation.
- Awareness of challenging issues and advanced topics in vehicle control systems.
- Understanding of the concepts of various types of vehicle motion in 6-Degree-of-Freedom and performance specifications.
- Understanding state space feedback control concepts: e.g. coordinate transformation, stability, zerodyamics, controllability, observability.
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