Conceptual learning of control and state estimation through a mobile cart project

摘要

Control and state estimation are essential in the curriculum of a typical electrical and mechanical engineering. Obtaining a conceptual understanding on these subjects has proven to be difficult however. Moreover, using the learned concepts to provide an integrated solution for a real-world setup is even more challenging. This paper describes a mobile cart project that promotes conceptual and deep learning of (feedback- and forward) control and state estimation (Kalman filter) in a master course on control theory (5 ECTS). The project counts for 25% of the total evaluation. The project uses an integrated approach (see table). The overall goal for the students is to control a lego-mindstorm robot such that it follows a predefined path using the robot's encoders and an ultrasonic sensor measuring the distance to two perpendicular walls. The mobile cart project is founded on an understanding-experiment-report strategy. Using code prepared by the lecturers students have to understand the overall system, design an experimental strategy to answer conceptual questions, do the actual experiments, and answer the questions in a report. The effectiveness of the proposed approach is evaluated qualitatively. First, the lecturers subjectively observed an increase in the level of conceptual understanding shown during the evaluation and compared with the level shown during previous years when a traditional approach of lectures and exercise sessions was used. Moreover, the lecturers notice that the deeper understanding on this two topics has a positive influence on the overall understanding of control theory. Second, all students were asked to summarize what they learned. Most students stress that they did not only learn about one specific component but also about the overall system. Third, the teaching assistants observed an increase of the level of motivation during the hands-on session with respect to the classical exercise sessions. The mobile cart project enhances the conceptual learning of control and state estimation theory. Moreover, the practical session improved the students' motivation.