Special topics (Intelligent Control in Robotics)
- Module 1: Control Engineering Mathematics and Stability Analysis
• Introduction to control engineering and its relevance in robotics.
• Review of key mathematical concepts: linear algebra, calculus, and differential equations.
• Lyapunov stability theory and its application in analyzing robotic control systems.
- Module 2: Serial Manipulators: Modeling and Control
• Introduction to serial manipulators and their kinematics.
• Direct and inverse kinematics calculations.
• Trajectory planning for serial manipulators.
• Applying AI techniques to enhance serial manipulator control.
- Module 3: Deep Learning in Robotic Control
• Introduction to deep learning and neural networks.
• Convolutional Neural Networks (CNNs) for sensory data processing.
• Recurrent Neural Networks (RNNs) for sequential data in robotics.
• Transfer learning and fine-tuning for robotic control tasks.
- Module 4: Fuzzy Logic and Uncertainty Handling
• Understanding uncertainty in robotic systems.
• Introduction to fuzzy logic systems and their components.
• Fuzzy control strategies for handling imprecision and uncertainty.
• Case studies of fuzzy logic applied to control challenges in robotics.
- Module 5: Reinforcement Learning for Control Optimization
• Fundamentals of reinforcement learning (RL).
• Markov Decision Processes (MDPs) and Q-learning.
• Policy gradients and actor-critic methods.
• Applications of RL in robotic control, including exploration strategies.
- Module 6: Integrating AI Techniques in Robotic Control
• Comparative analysis of different AI techniques in control scenarios.
• Hybrid approaches combining deep learning, fuzzy logic, and reinforcement learning.
• Real-world case studies and success stories of AI-enhanced robotic control.
- Module 7: Project Work Students will work on a semester-long project applying AI techniques to solve a specific control challenge in serial manipulators. The project will involve system modeling, algorithm selection, implementation, experimentation, and results analysis.