CDS 110b: Two Degree of Freedom Control Design: Difference between revisions
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* {{cds110b-wi08 pdfs|L1-1_intro.pdf|Lecture presentation: course overview}} | * {{cds110b-wi08 pdfs|L1-1_intro.pdf|Lecture presentation: course overview}} | ||
* {{cds110b-wi08 pdfs|L1-1_tracking.pdf|Lecture notes: trajectory tracking and gain scheduling}} | * {{cds110b-wi08 pdfs|L1-1_tracking.pdf|Lecture notes: trajectory tracking and gain scheduling}} | ||
* {{cds110b-wi08 pdfs | * {{cds110b-wi08 pdfs|L1-2_flatness.pdf|Lecture notes: trajectory generation and differential flatness}} | ||
* Homework 1 (due 14 Jan @ 5 pm): {{obc08|problems 1.2, 1.3, 1.4 and 1.5}} | * Homework 1 (due 14 Jan @ 5 pm): {{obc08|problems 1.2, 1.3, 1.4 and 1.5}} | ||
** {{cds110b-wi07 pdfs|normsteer.m|normsteer.m}} - Normalized model for steering control system | ** {{cds110b-wi07 pdfs|normsteer.m|normsteer.m}} - Normalized model for steering control system | ||
Revision as of 18:29, 9 January 2008
| CDS 110b | Schedule | Project | Course Text |
In this set of lectures we describe the problem of trajectory generation and tracking. We use differential flatness to generate feasible trajectories for the system, which are then tracked by a local (gain-scheduled) controller.
Course Materials
- Lecture presentation: course overview
- Lecture notes: trajectory tracking and gain scheduling
- Lecture notes: trajectory generation and differential flatness
- Homework 1 (due 14 Jan @ 5 pm): problems 1.2, 1.3, 1.4 and 1.5
- normsteer.m - Normalized model for steering control system
References and Further Reading
- R. M. Murray, Optimization-Based Control. Preprint, 2008: Chapter 1 - Trajectory Generation and Tracking
- K. J. Åström and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Preprint, 2007. Chapter 7 - Output Feedback. Section 7.5
- Real Time Trajectory Generation for Differentially Flat Systems, M. J. van Nieuwstadt and R. M. Murray, Int'l. J. Robust & Nonlinear Control 8:(11) 995-1020, 1998.
