Autonomous Systems 

The goal of this course is to equip each student with an integrated understanding of modeling and control of nonholonomic systems. By the end of the course, each student should be able to do the following:

• Modeling of systems with nonholonomic constrains;
• Derive the controllability and observability of nonlinear systems; 
• Design of motion control systems for systems with nonholonomic constrains;
• Analysis (modeling, control, and simulations) of simple autonomous systems such as the unicycle, bicycle, tricycle, and car-like robots;
  
• Design of controllers for multiple-input multiple-outputs systems and implementation of these control systems on mobile robots.    

Lecture Notes

Introduction and ​Kinematic structure of mobile robots

lecture_1
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Controlability of mobile robots

lecture_2
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Motion control system design

lecture_3
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Feedback linearization

lecture_4
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Multiple-Inputs Multiple-Outputs systems

lecture_5
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Control of MIMO systems via dynamic state feedback

lecture_6
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Dynamic control of mobile robots 

lecture_7
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Odometric localization 

lecture_8
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Kalman filter

lecture_9
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