CDS 110b: Two Degree of Freedom Control Design: Difference between revisions

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{{cds110b-wi07}}
{{cds110b-wi08}}
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-wi07 pdfs|L6-1_tracking.pdf|Notes on trajectory tracking}}
* {{cds110b-wi08 pdfs|L1-1_intro.pdf|Course overview}}
* {{cds110b-wi07 pdfs|L6-2_flatness.pdf|Notes on differential flatness}}
* {{cds110b-wi08 pdfs|L1-1_tracking.pdf|Lecture notes: trajectory tracking and gain scheduling}}
* Partial [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/12Feb07.mp3 MP3] of Monday lecture, 12 Feb 2007
* {{cds110b-wi08 pdfs|L1-2_flatness.pdf|Lecture notes: trajectory generation and differential flatness}}
* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/14Feb07.mp3 MP3] of Wednesday lecture, 14 Feb 2007
* {{cds110b-wi08 pdfs|hw1.pdf|Homework 1}} (due 14 Jan @ 5 pm)
* {{cds110b-wi07 pdfs|hw6.pdf|Homework 6}} (due 22 Feb @ 5 pm)
** {{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


== References and Further Reading ==
== References and Further Reading ==
*  {{AM06|Chapter 7 - Output Feedback}} Section 7.5
* {{AM07 supplement|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.
* [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 ==

Revision as of 07:28, 7 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

References and Further Reading

Frequently Asked Questions