John Lygeros: Catalogue data in Autumn Semester 2023 |  |
| Name | Prof. Dr. John Lygeros |
| Field | Control and Computation |
| Address | Institut für Automatik ETH Zürich, ETL I 22 Physikstrasse 3 8092 Zürich SWITZERLAND |
| Telephone | +41 44 632 89 70 |
| jlygeros@ethz.ch | |
| URL | http://control.ee.ethz.ch/people/profile.john-lygeros.html |
| Department | Information Technology and Electrical Engineering |
| Relationship | Full Professor |
| Number | Title | ECTS | Hours | Lecturers | |||||||||||||||||||||||
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| 227-0085-21L | P&S: Quad-Rotors: Control and Estimation  The course unit can only be taken once. Repeated enrollment in a later semester is not creditable. | 2 credits | 2P | J. Lygeros | |||||||||||||||||||||||
| Abstract | The category of "Laboratory Courses, Projects, Seminars" includes courses and laboratories in various formats designed to impart practical knowledge and skills. Moreover, these classes encourage independent experimentation and design, allow for explorative learning and teach the methodology of project work. | ||||||||||||||||||||||||||
| Learning objective | 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 | ||||||||||||||||||||||||||
| Content | 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 5th semester. The first class will be on Wednesday, September 27 for all students. Classes will then occur every second week. The students will be split into two groups and the classes for each group will occur on alternating weeks. It is preferable to be taking the Control Systems 1 (CS1) course but not mandatory. Those students who are not taking CS1 will need to complete some extra reading to understand some aspects of this P&S.The simulations will be coded in MATLAB, and the real-world implementation in C++. | ||||||||||||||||||||||||||
Competencies |
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| 227-0085-24L | P&S: RoboCup: Learning and Control The course unit can only be taken once. Repeated enrollment in a later semester is not creditable. | 3 credits | 1P | J. Lygeros, L. Van Gool, F. Yu | |||||||||||||||||||||||
| Abstract | The category of "Laboratory Courses, Projects, Seminars" includes courses and laboratories in various formats designed to impart practical knowledge and skills. Moreover, these classes encourage independent experimentation and design, allow for explorative learning and teach the methodology of project work. | ||||||||||||||||||||||||||
| Learning objective | "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, Python, and C++. The topics cover fundamental topics on data-driven learning and control. | ||||||||||||||||||||||||||
| Prerequisites / Notice | Important information for candidates: You are required to bring your own Laptop for the programming exercises. A basic knowledge of programming in MATLAB, Python, and C++ is required. The course is taught in English and is 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. | ||||||||||||||||||||||||||
| Competencies |
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| 227-0225-00L | Linear System Theory | 6 credits | 5G | J. Lygeros, A. Tsiamis | |||||||||||||||||||||||
| Abstract | The class is intended to provide a comprehensive overview of the theory of linear dynamical systems, stability analysis, and their use in control and estimation. The focus is on the mathematics behind the physical properties of these systems and on understanding and constructing proofs of properties of linear control systems. | ||||||||||||||||||||||||||
| Learning objective | Students should be able to apply the fundamental results in linear system theory to analyze and control linear dynamical systems. | ||||||||||||||||||||||||||
| Content | - Proof techniques and practices. - Linear spaces, normed linear spaces and Hilbert spaces. - Ordinary differential equations, existence and uniqueness of solutions. - Continuous and discrete-time, time-varying linear systems. Time domain solutions. Time invariant systems treated as a special case. - Controllability and observability, duality. Time invariant systems treated as a special case. - Stability and stabilization, observers, state and output feedback, separation principle. | ||||||||||||||||||||||||||
| Lecture notes | Available on the course Moodle platform. | ||||||||||||||||||||||||||
| Prerequisites / Notice | Sufficient mathematical maturity, in particular in linear algebra, analysis. | ||||||||||||||||||||||||||
| Competencies |
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| 227-0920-00L | Seminar in Systems and Control Does not take place this semester. | 0 credits | 1S | F. Dörfler, R. D'Andrea, E. Frazzoli, M. H. Khammash, J. Lygeros, R. Smith | |||||||||||||||||||||||
| Abstract | Current topics in Systems and Control presented mostly by external speakers from academia and industry | ||||||||||||||||||||||||||
| Learning objective | see above | ||||||||||||||||||||||||||
| 401-5850-00L | Seminar in Systems and Control for CSE | 4 credits | 2S | J. Lygeros | |||||||||||||||||||||||
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