Selected Topics in Control Theory and Robotics Field of study: Applied Computer Science
Programme code: W4-S1IS19.2023

Module name: Selected Topics in Control Theory and Robotics
Module code: W4-IS-S1-WZAR
Programme code: W4-S1IS19.2023
Semester:
  • winter semester 2026/2027
  • winter semester 2025/2026
Language of instruction: Polish
Form of verification: exam
ECTS credits: 3
Purpose and description of the content of education:
Celem modułu jest zdobycie przez studiującego wiedzy i umiejętności w zakresie następujących treści kształcenia w zakresie teorii sterowania oraz robotyki.: 1. Podstawowe pojęcia: sygnały, obiekty, regulatory, elementy wykonawcze. Sterowanie w układzie otwartym i zamkniętym. Model dynamicznego układu sterowania. Regulatory dwustawny, proporcjonalny i PID. Implementacja regulatora PID. 2. Roboty mobilne. Napęd robota i klasy robotów mobilnych. Modele różnicowy i unicycle. Sterowanie oparte na zachowaniach. 3. Liniowe układy sterowania. Równanie w przestrzeni stanów. Linearyzacja układów nieliniowych.Macierze Jakobiego. Stabilność układu. Sterowanie “Output Feedback”. 4. Projektowanie układu sterowania. Sterowanie “State Feedback”. Macierz Kalmana. Sterowalność i obserwowalność. Zasada separacji. lokowanie biegunów (pole placement). 5. Hybrydowe układy dynamiczne. Przełączanie zachowań. Paradoks Zenona. Automaty hybrydowe typu Zeno1 i Zeno2. Sterowanie ślizgowe. 6. Problem nawigacji. Zachowania “go-to-goal”, “avoid-obstacles”, “follow-wall”. Arbitraż zachowań (“hard switching” i “blending”). Automat hybrydowy z przełączaniem i sterowanie ślizgowe. 7. Projektowanie warstwowe, uniwersalność “pose” i modelu unicycle. Pełna architektura układu sterowania robota mobilnego. 8. Programowanie robota mobilnego z wykorzystaniem wybranej platformy i środowiska.
List of modules that must be completed before starting this module (if necessary): not applicable
Learning outcome of the module Codes of the learning outcomes of the programme to which the learning outcome of the module is related [level of competence: scale 1-5]
ma wiedzę w zakresie teoretycznych podstaw sterowania [IS-S1-WZAR_1]
 IS1_W03 [3/5]
zna i potrafi stosować podstawowe elementy i układy automatyki i robotyki [IS-S1-WZAR_2]
 IS1_W03 [2/5] IS1_U05 [3/5]
potrafi zaprojektować i zbudować prosty układ pomiarowy [IS-S1-WZAR_3]
 IS1_U06 [3/5]
potrafi zaprojektować i zbudować proste urządzenie, wykorzystując układy automatycznej regulacji [IS-S1-WZAR_4]
 IS1_U06 [5/5]
potrafi wykonywać zadania inżynierskie podczas pracy w grupie, zarówno w roli lidera jak i członka zespołu [IS-S1-WZAR_5]
 IS1_U03 [3/5]
Form of teaching Number of hours Methods of conducting classes Assessment of the learning outcomes Learning outcomes
lecture [IS-S1-WZAR_fs_1] 15 Formal lecture/ course-related lecture [a01] 
Problem-based lecture [b01] 
Lecture-discussion [b02] 
Screen presentation [c07] 
Self-education [f01] 
Individual work with a text [f02]  		exam IS-S1-WZAR_1 IS-S1-WZAR_2 IS-S1-WZAR_5
laboratory classes [IS-S1-WZAR_fs_2] 30 Description [a03] 
Activating method – flipped classroom [b09] 
Working with a computer [d01] 
Laboratory exercise / experiment [e01] 
Self-education [f01] 
Individual work with a text [f02]  		course work IS-S1-WZAR_3 IS-S1-WZAR_4 IS-S1-WZAR_5
The student's work, apart from participation in classes, includes in particular:
Name Category Description
Literature reading / analysis of source materials [a02] Preparation for classes
reading the literature indicated in the syllabus; reviewing, organizing, analyzing and selecting source materials to be used in class
Developing practical skills [a03] Preparation for classes
activities involving the repetition, refinement and consolidation of practical skills, including those developed during previous classes or new skills necessary for the implementation of subsequent elements of the curriculum (as preparation for class participation)
Consulting materials complementary to those indicated in the syllabus [a04] Preparation for classes
agreeing on materials complementary to those indicated in the syllabus, supporting the implementation of tasks resulting from or necessary for class participation
Determining the stages of task implementation contributing to the verification of learning outcomes [c01] Preparation for verification of learning outcomes
devising a task implementation strategy embracing the division of content, the range of activities, implementation time and/or the method(s) of obtaining the necessary materials and tools, etc.
Studying the literature used in and the materials produced in class [c02] Preparation for verification of learning outcomes
exploring the studied content, inquiring, considering, assimilating, interpreting it, or organizing knowledge obtained from the literature, documentation, instructions, scenarios, etc., used in class as well as from the notes or other materials/artifacts made in class
Analysis of the corrective feedback provided by the academic teacher on the results of the verification of learning outcomes [d01] Consulting the results of the verification of learning outcomes
reading through the academic teacher’s comments, assessments and opinions on the implementation of the task aimed at checking the level of the achieved learning outcomes
Development of a corrective action plan as well as supplementary/corrective tasks [d02] Consulting the results of the verification of learning outcomes
reviewing and selecting tasks and activities enabling the elimination of errors indicated by the academic teacher, their verification or correction resulting in completing the task with at least the minimum passing grade
Attachments
Module description (PDF)
Information concerning module syllabuses might be changed during studies.
Syllabuses (USOSweb)
Semester Module Language of instruction
(no information given)