CDS 110b: Control Implementation: Difference between revisions
From Murray Wiki
Jump to navigationJump to search
(created page + initial outline of lectures) |
|||
| 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> | ||
Revision as of 01:20, 3 January 2006
Lecture 1 Outline
- Course Project Structure
- Brief Introduction to Alice
- High level architecture
- Control specifications
- Inner loop control architecture: Follower, AState
- Alice operations (video): desert testing, NQE, GCE
Lecture 2 Outline
- Video of Alice follower performance
- External view
- Internal (planner) view
- Alice dynamics
- Bicycle model
- Nonlinear effects: magnitude and rate limits
Lecture 3 Outline
- Interface hardware
- Interface software (follow)
- Implementing controllers on Alice
