Feedback%20Control,%20Cybernetics,%20and%20Robotics

1
Feedback Control, Cybernetics, and Robotics

2
What is a Robotic System?

• A robotic systema device that can measure its
  own state and take action based on it.

3
History of Feedback Control

• Ancient China
• two-foot-long bamboo straw which automatically
  regulated wine consumption!

4
History of Feedback Control

• Greek water clock

5
History of Feedback Control

• Drebbels furnace

6
History of Feedback Control

• Bonnemains chickens

7
History of Feedback Control

• Windmills and fantails

8
History of Feedback Control

• Watts centrifugal flyball Governor
• The breakthrough in effectiveness and public
  recognition.
• Built on the windmill and water regulation
  principles.
• Huge impact on the Industrial Revolution

9
(No Transcript)
10
The Governor

• Applying a known principle to a new application

11
Control Engineering

• Closed-loop control
• Cruise control

12
Control Engineering

• WWII advances achieved out of need for survival
• Radar
• Guided missles
• Automatic pilots

13
Control Engineering

• Norden Bombsight
• Ending the war in both Europe and the Pacific

14
Soviet Union

• Sputnik 1957
• International Federation of Automatic Control
  (IFAC)
• First meeting held in Moscow 1960

15
US Response

• The era of Modern Control begins with the Kalman
  Filter--1960
• combining and filtering information from multiple
  sensor sources
• Highly accurate mathematic formula
• Navigation systems transformed

16
Modern Control

• Microprocessor 1969
• Industrial process control
• Relies less on engineering intuition and more on
  internal system design

17
Classical vs. Modern Systems

• Linear time-invariant systems
• Design done graphically by hand
• Involves a great deal of intuition
• Design process is an engineering art

• An exact description of the internal system
  dynamics is needed
• A good knowledge of matrices and linear algebra
  is required

18
(No Transcript)