John Lygeros: Katalogdaten im Frühjahrssemester 2023 |  |
| Name | Herr Prof. Dr. John Lygeros |
| Lehrgebiet | Control and Computation |
| Adresse | Institut für Automatik ETH Zürich, ETL I 22 Physikstrasse 3 8092 Zürich SWITZERLAND |
| Telefon | +41 44 632 89 70 |
| jlygeros@ethz.ch | |
| URL | http://control.ee.ethz.ch/people/profile.john-lygeros.html |
| Departement | Informationstechnologie und Elektrotechnik |
| Beziehung | Ordentlicher Professor |
| Nummer | Titel | ECTS | Umfang | Dozierende | ||||||||||||||||||||||||||||||||
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| 227-0046-10L | Signal- und Systemtheorie II | 4 KP | 2V + 2U | J. Lygeros | ||||||||||||||||||||||||||||||||
| Kurzbeschreibung | Zeitkontinuierliche und zeitdiskrete lineare Systemtheorie, Zustandsraummethoden, Frequenzbereichmethoden, Steuerbarkeit, Beobachtbarkeit, Stabilität. | |||||||||||||||||||||||||||||||||||
| Lernziel | Einführung in die Grundkonzepte der Systemtheorie | |||||||||||||||||||||||||||||||||||
| Inhalt | Modellierung und Typenbezeichnung von dynamischen Systemen. Modellierung von linearen, zeitinvarianten Systemen durch Zustandsgleichungen. Lösung von Zustandsgleichungen durch Zeitbereich- und Laplacebereichmethoden. Stabilitäts-, Steuerbarkeits- und Beobachtbarkeitsanalyse. Beschreibung im Frequenzbereich, Bode- und Nyquistdiagramm. Abgetastete und zeitdiskrete Systeme. Weiterführende Themen: Nichtlineare Systeme, Chaos, Diskrete Ereignissysteme, Hybride Systeme. | |||||||||||||||||||||||||||||||||||
| Skript | Kopie der Folien | |||||||||||||||||||||||||||||||||||
| Literatur | Empfohlen: K.J. Astrom and R. Murray, "Feedback Systems: An Introduction for Scientists and Engineers", Princeton University Press 2009 http://www.cds.caltech.edu/~murray/amwiki/ | |||||||||||||||||||||||||||||||||||
| 227-0085-21L | Projekte & Seminare: Quad-Rotors: Control and Estimation   Die Lerneinheit kann nur einmal belegt werden. Eine wiederholte Belegung in einem späteren Semester ist nicht anrechenbar. | 2 KP | 2P | J. Lygeros | ||||||||||||||||||||||||||||||||
| Kurzbeschreibung | Der Bereich Praktika, Projekte, Seminare umfasst Lehrveranstaltungen in unterschiedlichen Formaten zum Erwerb von praktischen Kenntnissen und Fertigkeiten. Ausserdem soll selbstständiges Experimentieren und Gestalten gefördert, exploratives Lernen ermöglicht und die Methodik von Projektarbeiten vermittelt werden. | |||||||||||||||||||||||||||||||||||
| Lernziel | The objective of this P&S is to make a real-world quad-rotor fly autonomously by applying the control and estimation theory taught in class. Details of this P&S course can be found at: https://www.dfall.ethz.ch/pands.php A video showing highlights from HS2018 can be seen here: https://www.youtube.com/watch?v=PEg-XHSXd58 A video showing how we adapted to the online setting for COVID-19 can be seen here: https://www.youtube.com/watch?v=nHcfb3OprB | |||||||||||||||||||||||||||||||||||
| Inhalt | In the first half of the P&S, we will introduce the physical model for a quad-rotor and use this to apply the control and estimation techniques that are taught in the 5th semester in the Control Systems 1 (CS1) class. The students will then create their own control functions for a quad-rotor and test these in simulation. The second half of the course will involve the students implementing the control and estimation algorithms they design in the real-world on our fleet of nano-quad-rotors. Once stable flight is achieved, the students will have the freedom to perform tasks with the quad-rotor. By implementing the control and estimation algorithms on a real quad-rotor, the students will gain experience in how decisions in the modelling and design stage affect real-world performance. The simulations will be coded in MATLAB, and the real-world implementation in C++. Important Information: Students must be in the third year of their Bachelor's. After the first meeting of the class, students will be divided into two groups and the classes for each group will take place on alternating weeks. It is preferable (though not mandatory) to have taken the Control Systems 1 (CS1) course; students who did not take CS1 will need some additional reading to understand some aspects of this P&S. | |||||||||||||||||||||||||||||||||||
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| 227-0085-24L | Projekte & Seminare: RoboCup: Learning and Control Die Lerneinheit kann nur einmal belegt werden. Eine wiederholte Belegung in einem späteren Semester ist nicht anrechenbar. | 3 KP | 1P | J. Lygeros, L. Van Gool, F. Yu | ||||||||||||||||||||||||||||||||
| Kurzbeschreibung | Der Bereich Praktika, Projekte, Seminare umfasst Lehrveranstaltungen in unterschiedlichen Formaten zum Erwerb von praktischen Kenntnissen und Fertigkeiten. Ausserdem soll selbstständiges Experimentieren und Gestalten gefördert, exploratives Lernen ermöglicht und die Methodik von Projektarbeiten vermittelt werden. | |||||||||||||||||||||||||||||||||||
| Lernziel | RoboCup: Learning and Control" is jointly offered by Prof. John Lygeros (IfA), Prof. Luc Van Gool (CVL) and Prof. Fisher Yu (CVL). RoboCup is a tournament where teams of autonomous robots compete in soccer matches against each other. The ETH team NomadZ (https://robocup.ethz.ch/) plays in the Standard Platform League with a team of humanoid NAO robots. The focus lies on developing robust and efficient algorithms for vision, control and behavior. The main objective of this course is for students to become familiar with theoretical aspects currently in the spotlight of RoboCup. This is accomplished by a combination of theory sessions, related student exercise sets and programming projects in MATLAB and C++. The topics cover fundamental topics on data-driven learning and control. | |||||||||||||||||||||||||||||||||||
| Voraussetzungen / Besonderes | Important information for candidates: You are required to bring your own Laptop for the programing exercises. A basic knowledge of programming in MATLAB and C++ is required. The course is taught in English and open to 5th or higher semester students. Prior exposure to control theory (e.g. by attending a Control Systems course) is desirable but not required. Students who are not familiar with control theory will need some extra study to understand some aspects of this P&S course. | |||||||||||||||||||||||||||||||||||
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| 227-0920-00L | Seminar in Systems and Control Findet dieses Semester nicht statt. | 0 KP | 1S | F. Dörfler, R. D'Andrea, E. Frazzoli, M. H. Khammash, J. Lygeros, R. Smith, M. Zeilinger | ||||||||||||||||||||||||||||||||
| Kurzbeschreibung | Current topics in Systems and Control presented mostly by external speakers from academia and industry. | |||||||||||||||||||||||||||||||||||
| Lernziel | Gain familiarity with the state of the art in control theory and practice. | |||||||||||||||||||||||||||||||||||
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| 401-5850-00L | Seminar in Systems and Control for CSE | 4 KP | 2S | J. Lygeros | ||||||||||||||||||||||||||||||||
| Kurzbeschreibung | Course based on individual study, please contact instructor for more information. Short projects involving literature review and possibly simple research tasks. | |||||||||||||||||||||||||||||||||||
| Lernziel | Introduce students to state of the art research in systems and control. | |||||||||||||||||||||||||||||||||||
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