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

From Murray Wiki
Jump to navigationJump to search
No edit summary
No edit summary
Line 5: Line 5:
* {{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|L1-2_flatness.pdf|Lecture notes: trajectory generation and differential flatness}}
* {{cds110b-wi08 pdfs placeholder|L1-2_flatness.pdf|Lecture notes: trajectory generation and differential flatness}}
* {{cds110b-wi08 pdfs|hw1.pdf|Homework 1}} (due 14 Jan @ 5 pm)
* {{cds110b-wi08 pdfs|hw1.pdf|Homework 1}} (due 14 Jan @ 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

Revision as of 02:45, 8 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