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Feedback Control, Cybernetics, and Robotics

Feedback Control, Cybernetics, and Robotics. What is a Robotic System?. A robotic system—a device that can measure its own state and take action based on it. History of Feedback Control. Ancient China two-foot-long bamboo straw which automatically regulated wine consumption!.

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Feedback Control, Cybernetics, and Robotics

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  1. Feedback Control, Cybernetics, and Robotics

  2. What is a Robotic System? A robotic system—a 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 • Drebbel’s furnace

  6. History of Feedback Control • Bonnemain’s chickens

  7. History of Feedback Control • Windmills and fantails

  8. History of Feedback Control • Watt’s 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. The Governor • Applying a known principle to a new application

  10. Control Engineering Closed-loop control • Cruise control

  11. Control Engineering • WWII advances achieved out of need for survival • Radar • Guided missles • Automatic pilots

  12. Control Engineering • Norden Bombsight • Ending the war in both Europe and the Pacific

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

  14. 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

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

  16. 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 Classical vs. Modern Systems

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