-
Spring 2009, 11:00 a.m. - 12:30 p.m., Tuesdays and Thursdays, 1-246
Department of Mechanical Engineering, Massachusetts Institute of Technology
Instructor:
Jean-Jacques E. Slotine, Director of the
MIT Non-linear Systems
Laboratory
Professor of Mechanical Engineering & Information Sciences, Professor of Brain
& Cognitive Sciences
Phone (617) 253-0490, Fax (617) 258-5802, Address: 3-338
Teaching Assistant:
Secretary:
Deborah Alibrandi, Phone (617) 253-2883, Address: 3-360
Prerequisite: Familiarity with elementary mechanics and basic control concepts
Grading: Homework 20% + Midterm (closed book) 40% + Term Paper 40%
Suggested Reading:
Asada and Slotine : Robot Analysis and Control (Wiley)
Braitenberg : Vehicles (MIT Press)
Mallat : A Wavelet Tour of Signal Processing (University Press)
Slotine and Li : Applied Nonlinear Control (Prentice-Hall)
Spong and Vidyasagar : Robot Dynamics and Control (Wiley)
Problem Sets:
Problem sets will be uploaded as per the dates given below, they are due in class 1-246 on the specified date.
|
Problem Set #1 |
sol1.pdf |
(Out: 02/14/2006; Due: 02/23/2006) |
|
|
Problem Set #2 |
sol2.pdf |
(Out: 02/28/2006; Due: 03/14/2006) |
|
|
Problem Set #3 |
sol3.pdf |
(Out: 03/16/2006; Due: 04/04/2006) |
|
|
Problem Set #4 |
sol4.pdf computeJacobian.m pset4.m fn_c.m fn2_c.m |
(Out: 04/20/2006; Due: 05/04/2006) |
Midterm:
One-and-half hour closed-book exam in class (1-246) on Tuesday April 11th 2006 from 11.00 a.m. to 12.30 p.m.
Announcements: