CDS 110b: Two Degree of Freedom Control Design: Difference between revisions
From Murray Wiki
Jump to navigationJump to search
No edit summary |
|||
| (18 intermediate revisions by 2 users not shown) | |||
| Line 1: | Line 1: | ||
{{cds110b- | {{cds110b-wi08 lecture|prev=Main Page|next=Optimal Control}} | ||
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. | 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 == | == Course Materials == | ||
* {{cds110b- | * {{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}} | ||
* Homework | * {{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}} | |||
** {{cds110b-wi07 pdfs|normsteer.m|normsteer.m}} - Normalized model for steering control system | |||
== References and Further Reading == | == References and Further Reading == | ||
* R. M. Murray, ''Optimization-Based Control''. Preprint, 2008: {{cds110b-wi08 pdfs|trajgen_07Jan08.pdf|Chapter 1 - Trajectory Generation and Tracking}} | |||
* {{AM07|Chapter 7 - Output Feedback}} Section 7.5 | |||
* [http://www.cds.caltech.edu/~murray/papers/1996l_nm96-ijrnc.html 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. | |||
== Frequently Asked Questions == | == Frequently Asked Questions == | ||
'''What's an example of a system that ''isn't'' differentially flat?''' | |||
While many systems are differentially flat, there are many systems that aren't. One example is given by the following set of differential equations | |||
<center><amsmath> | |||
\aligned | |||
\dot x_1 &= u_1 \\ | |||
\dot x_2 &= u_2 \\ | |||
\dot x_3 &= x_1 u_2 - x_2 u_1 \\ | |||
\dot x_4 &= x_3 u_1 \\ | |||
\dot x_5 &= x_3 u_2. | |||
\endaligned | |||
</amsmath></center> | |||
Showing that this system isn't differentially flat is complicated and relies on mathematical tools that are beyond those that we present in the class. If you are interested in learning more, take a look at a [http://www.cds.caltech.edu/~murray/papers/2003d_mmr03-cds.html survey article] on differential flatness by Martin, Murray and Rouchon. | |||
Latest revision as of 03:31, 2 March 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.
Frequently Asked Questions
What's an example of a system that isn't differentially flat?
While many systems are differentially flat, there are many systems that aren't. One example is given by the following set of differential equations
\aligned \dot x_1 &= u_1 \\ \dot x_2 &= u_2 \\ \dot x_3 &= x_1 u_2 - x_2 u_1 \\ \dot x_4 &= x_3 u_1 \\ \dot x_5 &= x_3 u_2. \endaligned
</amsmath>Showing that this system isn't differentially flat is complicated and relies on mathematical tools that are beyond those that we present in the class. If you are interested in learning more, take a look at a survey article on differential flatness by Martin, Murray and Rouchon.
