Robotics and Autonomous Systems

  1. Robot Control
    1. Control Theory Fundamentals
      1. System Modeling
        1. Transfer Function Representation
          1. State-Space Models
            1. Linearization Techniques
            2. Stability Analysis
              1. Lyapunov Stability
                1. BIBO Stability
                  1. Routh-Hurwitz Criterion
                  2. Performance Specifications
                    1. Transient Response
                      1. Steady-State Error
                        1. Robustness Measures
                      2. Classical Control Methods
                        1. PID Control
                          1. Proportional Control
                            1. Integral Control
                              1. Derivative Control
                                1. PID Tuning Methods
                                  1. Ziegler-Nichols Method
                                    1. Cohen-Coon Method
                                      1. Model-based Tuning
                                    2. Root Locus Design
                                      1. Frequency Domain Design
                                        1. Bode Plots
                                          1. Nyquist Criterion
                                            1. Lead-Lag Compensation
                                          2. Modern Control Theory
                                            1. State-Space Control
                                              1. Controllability and Observability
                                                1. State Feedback Design
                                                  1. Observer Design
                                                    1. Luenberger Observer
                                                      1. Kalman Filter as Observer
                                                    2. Linear Quadratic Regulator
                                                      1. Cost Function Design
                                                        1. Riccati Equation
                                                          1. LQG Control
                                                          2. Robust Control
                                                            1. H-infinity Control
                                                              1. Mu-synthesis
                                                                1. Uncertainty Modeling
                                                              2. Nonlinear Control
                                                                1. Nonlinear System Analysis
                                                                  1. Phase Plane Analysis
                                                                    1. Describing Functions
                                                                    2. Feedback Linearization
                                                                      1. Input-Output Linearization
                                                                        1. State Feedback Linearization
                                                                        2. Sliding Mode Control
                                                                          1. Sliding Surface Design
                                                                            1. Reaching Condition
                                                                              1. Chattering Reduction
                                                                              2. Adaptive Control
                                                                                1. Model Reference Adaptive Control
                                                                                  1. Self-Tuning Regulators
                                                                                2. Robot-Specific Control
                                                                                  1. Joint Space Control
                                                                                    1. Independent Joint Control
                                                                                      1. Computed Torque Control
                                                                                        1. Robust Joint Control
                                                                                        2. Cartesian Space Control
                                                                                          1. Resolved Motion Rate Control
                                                                                            1. Impedance Control
                                                                                              1. Hybrid Position-Force Control
                                                                                              2. Redundancy Resolution
                                                                                                1. Pseudoinverse Methods
                                                                                                  1. Null Space Projection
                                                                                                    1. Task Priority Methods
                                                                                                  2. Advanced Control Techniques
                                                                                                    1. Model Predictive Control
                                                                                                      1. Prediction Models
                                                                                                        1. Optimization Problem Formulation
                                                                                                          1. Constraint Handling
                                                                                                            1. Receding Horizon Implementation
                                                                                                            2. Optimal Control
                                                                                                              1. Calculus of Variations
                                                                                                                1. Pontryagin's Maximum Principle
                                                                                                                  1. Dynamic Programming
                                                                                                                  2. Learning-based Control
                                                                                                                    1. Adaptive Control with Learning
                                                                                                                      1. Neural Network Control
                                                                                                                        1. Reinforcement Learning Control

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                                                                                                                    5. Planning and Navigation

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                                                                                                                    7. Machine Learning for Robotics