CDS 110b: Control Implementation - Revision history

Murray: /* Lecture Outline */

2006-01-12T17:34:34Z

Lecture Outline

← Older revision		Revision as of 17:34, 12 January 2006
Line 43:		Line 43:
	<li> Controller specification (from DGC05)		<li> Controller specification (from DGC05)
	</ol>		</ol>

			=== Lecture Materials ===
			* [http://gc.caltech.edu/wiki/images/4/40/Hhuang_thesis.pdf Lateral Slip Prevention, Detection and Recovery for High-Speed Autonomous Off-Road Driving], H. Huang, Senior Thesis, 2005 - this paper provides a fairly detailed description of the bicycle model, including frictional forces. This is the model that is implement in the {{GC\|asim}} program.

	== Control Implementation ==		== Control Implementation ==

Murray: /* Dynamics and Control Specification */

2006-01-12T17:29:22Z

Dynamics and Control Specification

← Older revision		Revision as of 17:29, 12 January 2006
Line 23:		Line 23:

	== Dynamics and Control Specification ==		== Dynamics and Control Specification ==

			This lecture will introduce the dynamics and control of {{Alice}}.

			The dynamics of Alice can be represented at several different levels. The simplest model, the ''bicycle model'', is a kinematic model that can be used for simple path planning and control when no sliding is present. More complicated models include tire friction models and allow slip forces to be included. A significant complication is the presence of magnitude and rate constraints in the steering controller. Results from DGC05 NQE testing and the site visit will be used to illustrate the level of performance achievable on the system.

			The control specification for the project to solve the following design problem:
			* Given a set of waypoints (''xy'' coordinates), find a feasible path for the system through the waypoints and create a trajectory file that will be used by your controller.
			* Design a controller that follows the trajectory you have specified with errors of no more than 50 cm transient error and 20 cm steady state error in the lateral direction
			* Analyze the performance and robustness of your system assuming 10% variation in the wheel length and sensor noise corresponding to 50 cm "jumps" in position (from the GPS).

	=== Lecture Outline ===		=== Lecture Outline ===

Murray: /* Alice Architecture */

2006-01-07T06:55:12Z

Alice Architecture

← Older revision		Revision as of 06:55, 7 January 2006
Line 13:		Line 13:
	<li> Brief Introduction to Alice		<li> Brief Introduction to Alice
	* High level architecture		* High level architecture
	* Control ~~specifications~~		* Control structure
	* Inner loop control architecture: Follower, AState		<li> Alice operations (video): desert testing, site visit
	<li> Alice operations (video): desert testing, ~~NQE, GCE~~
	</ol>		</ol>

	=== Lecture Materials ===		=== Lecture Materials ===
	* Lecture presentation		* {{cds110b-pdfs\|L1-3_Project.pdf\|Lecture presentation}}
	* [http://gc.caltech.edu/wiki/index.php/JFR05_Paper JFR05 paper] - this is an overview paper written by the students that built Alice. Recommended reading for understanding the high level architecture.		* [http://gc.caltech.edu/wiki/index.php/JFR05_Paper JFR05 paper] - this is an overview paper written by the students that built Alice. Recommended reading for understanding the high level architecture.
	* [http://gc.caltech.edu/wiki/index.php/Alice Alice documentation] - this is part of the DGC wiki; feel free to look around since not everything is yet linked to the documetnation page		* [http://gc.caltech.edu/wiki/index.php/Alice Alice documentation] - this is part of the DGC wiki; feel free to look around since not everything is yet linked to the documetnation page

Murray: /* Alice Architecture */

2006-01-05T15:22:48Z

Alice Architecture

← Older revision		Revision as of 15:22, 5 January 2006
Line 5:		Line 5:

	== Alice Architecture ==		== Alice Architecture ==

			This introductory lecture will provide information on the course project requirements and some background on the system that we are going to use.

	=== Lecture Outline ===		=== Lecture Outline ===

Murray: /* Lecture Outline */ added links to Alice info

2006-01-05T15:21:59Z

Lecture Outline: added links to Alice info

← Older revision		Revision as of 15:21, 5 January 2006
Line 15:		Line 15:
	<li> Alice operations (video): desert testing, NQE, GCE		<li> Alice operations (video): desert testing, NQE, GCE
	</ol>		</ol>

			=== Lecture Materials ===
			* Lecture presentation
			* [http://gc.caltech.edu/wiki/index.php/JFR05_Paper JFR05 paper] - this is an overview paper written by the students that built Alice. Recommended reading for understanding the high level architecture.
			* [http://gc.caltech.edu/wiki/index.php/Alice Alice documentation] - this is part of the DGC wiki; feel free to look around since not everything is yet linked to the documetnation page

	== Dynamics and Control Specification ==		== Dynamics and Control Specification ==

Murray: added link to course project info

2006-01-05T15:18:11Z

added link to course project info

← Older revision		Revision as of 15:18, 5 January 2006
Line 1:		Line 1:
	{{righttoc}}		{{righttoc}}
	This page contains the material for a sequence of lectures on control law implementation. Each lecture is its own section, with an outline and links to handouts and other reference material. This page is focused on the course project for Winter 2006: steering control for Alice.		This page contains the material for a sequence of lectures on control law implementation. Each lecture is its own section, with an outline and links to handouts and other reference material. This page is focused on the course project for Winter 2006: steering control for Alice.

			* [[CDS 110b, Winter 2006#Course Project\|Course Project Information]]

	== Alice Architecture ==		== Alice Architecture ==

Murray: tweaked title

2006-01-03T01:28:25Z

tweaked title

← Older revision		Revision as of 01:28, 3 January 2006
Line 14:		Line 14:
	</ol>		</ol>

	== ~~Steering~~ Dynamics and Control Specification ==		== Dynamics and Control Specification ==

	=== Lecture Outline ===		=== Lecture Outline ===

Murray: updated page structure

2006-01-03T01:27:46Z

updated page structure

← Older revision		Revision as of 01:27, 3 January 2006
Line 1:		Line 1:
	~~== Lecture 1 Outline ==~~		{{righttoc}}
			This page contains the material for a sequence of lectures on control law implementation. Each lecture is its own section, with an outline and links to handouts and other reference material. This page is focused on the course project for Winter 2006: steering control for Alice.

			== Alice Architecture ==

			=== Lecture Outline ===
	<ol type=I>		<ol type=I>
	<li> Course Project Structure		<li> Course Project Structure
Line 10:		Line 14:
	</ol>		</ol>

	== ~~Lecture 2 Outline~~ ==		== Steering Dynamics and Control Specification ==

			=== Lecture Outline ===
	<ol type=I>		<ol type=I>
	<li> Video of Alice follower performance		<li> Video of Alice follower performance
Line 19:		Line 24:
	* Bicycle model		* Bicycle model
	* Nonlinear effects: magnitude and rate limits		* Nonlinear effects: magnitude and rate limits
			<li> Controller specification (from DGC05)
	</ol>		</ol>

	== ~~Lecture 3 Outline~~ ==		== Control Implementation ==

			=== Lecture Outline ===
	<ol type=I>		<ol type=I>
	<li> Interface hardware		<li> Interface hardware
Line 35:		Line 42:
	* Example: PI control of steering		* Example: PI control of steering
	</ol>		</ol>

			== Project Notes ==

Murray: /* Lecture 3 Outline */

2006-01-03T01:23:18Z

Lecture 3 Outline

← Older revision		Revision as of 01:23, 3 January 2006
Line 25:		Line 25:
	<ol type=I>		<ol type=I>
	<li> Interface hardware		<li> Interface hardware
			* Actuation: steering, (throttle, brake)
			* Sensing: GPS, IMU, steering angle
			* Serial interface summary
	<li> Interface software (follow)		<li> Interface software (follow)
			* Quick overview of sparrow
			* Description of the control architecture (handout)
			* Overview of the user interface
	<li> Implementing controllers on Alice		<li> Implementing controllers on Alice
			* Example: PI control of steering
	</ol>		</ol>

Murray: /* Lecture 2 Outline */

2006-01-03T01:20:43Z

Lecture 2 Outline

← Older revision		Revision as of 01:20, 3 January 2006
Line 14:		Line 14:
	<ol type=I>		<ol type=I>
	<li> Video of Alice follower performance		<li> Video of Alice follower performance
			* External view
			* Internal (planner) view
	<li> Alice dynamics		<li> Alice dynamics
	* Bicycle model		* Bicycle model
			* Nonlinear effects: magnitude and rate limits
	</ol>		</ol>