Course Information

Course Name	Turkish	Güdüm Kontrol ve Seyrüsefer
	English	Guidance Control and Navigation
Course Code	UCK 468	Credit	Lecture (hour/week)	Recitation (hour/week)	Laboratory (hour/week)
Semester	8	3	3	-	-
Course Language		English
Course Coordinator		İsmail Bayezit
Course Objectives		By the end of this course, you should be able to • Build mathematical models of basic mechanical and mechatronic systems and, based on these models, know how to build mathematical models of more complex systems. • Develop motion and measurement models for a large variety of vehicles and sensors • Implement modeling and feedback control theory on real testbeds • Understand different sensor mechanisms for guidance and control • Design models for guidance and autopilot • Straight line path following, way-point navigation and orbit following
Course Description		This course presents the fundamentals of Guidance, Control & Navigation. Topics on design models in Guidance include autopilot model, kinematic model of controlled flight, kinematic guidance models and dynamic guidance models. 1/8 scaled RC ground robots are planned to be used as testbenches to implement lab tasks. The kinematics/dynamics, flight stability and control of quadrotor vehicles are reviewed during the last phase of our course. Additionally, we will discuss the background straight line, orbit following and different methodologies for waypoint navigation. This course also includes the related topics on introduction to control. This reminding part is for your convenience while conducting your lab experiments. An emphasis on examples from recent research in the area pervades the course content. • The concept applies to many systems that stem from a diverse set of aerospace, mechanical, chemical and electronic engineering applications. • Our class focus is on principles of dynamic modeling, controller design and navigation missions for mechanical and mechatronic systems. • These principles can easily be applied to problem solving in other disciplines.
Course Outcomes		• The concept applies to many systems that stem from a diverse set of aerospace, mechanical, chemical and electronic engineering applications. • Our class focus is on principles of dynamic modeling, controller design and navigation missions for mechanical and mechatronic systems. • These principles can easily be applied to problem solving in other disciplines.
Pre-requisite(s)		Students are required to have a working knowledge of • Engineering Mathematics (Differential Calculus) • Linear Algebra • Dynamics and fundamental understanding of Physics and Electrical/Electronic systems at the sophomore level. • Introduction to Control Students are required to have a working knowledge of • Engineering Mathematics (Differential Calculus) • Linear Algebra • Dynamics and fundamental understanding of Physics and Electrical/Electronic systems at the sophomore level. • Introduction to Control
Required Facilities		Participating Lab Sessions
Other
Textbook		1- Randal W. Beard & Timothy W. McLain, Small Unmanned Aircraft: Theory and Practice, 2012. 2- Siegwart, R., Nourbakhsh, I. R., & Scaramuzza, D. (2011). Introduction to Autonomous Mobile Robots (Intelligent Robotics and Autonomous Agents), 2nd Ed., the MIT Press, Cambridge, MA. 3- Choset, H., Lynch, K. M., Hutchinson, S., Kantor, G., Burgard, W., Kavraki, L. E., & Thrun, S. (2005). Principles of Robot Motion: Theory, Algorithms, and Implementations (Intelligent Robotics and Autonomous Agents), the MIT Press, Cambridge, MA. 4- Richard C. Dorf, Robert H. Bishop, Modern Control Systems, 12 edition, 2010.
Other References		1. Feedback Control of Dynamic Systems, Gene Franklin, J. David Powell and Abbas Emami-Naeini, 2009, 6th Edition, ISBN-10: 0136019692 2. Modern Control Engineering, Katsuhiko Ogata, 2010, 5th Ed (or any older edition), Prentice Hall. 3. Automatic Control, Benjamin C. Kuo and Farid Golnaraghi

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