CDS 110b: Control Implementation: Difference between revisions
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This page contains the material for a sequence of lectures on control law implementation. Each lecture is its own section, with an outline and links to handouts and other reference material. This page is focused on the course project for Winter 2006: steering control for Alice. | |||
== Alice Architecture == | |||
=== Lecture Outline === | |||
<ol type=I> | <ol type=I> | ||
<li> Course Project Structure | <li> Course Project Structure | ||
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</ol> | </ol> | ||
== | == Steering Dynamics and Control Specification == | ||
=== Lecture Outline === | |||
<ol type=I> | <ol type=I> | ||
<li> Video of Alice follower performance | <li> Video of Alice follower performance | ||
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* Bicycle model | * Bicycle model | ||
* Nonlinear effects: magnitude and rate limits | * Nonlinear effects: magnitude and rate limits | ||
<li> Controller specification (from DGC05) | |||
</ol> | </ol> | ||
== | == Control Implementation == | ||
=== Lecture Outline === | |||
<ol type=I> | <ol type=I> | ||
<li> Interface hardware | <li> Interface hardware | ||
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* Example: PI control of steering | * Example: PI control of steering | ||
</ol> | </ol> | ||
== Project Notes == | |||
Revision as of 01:27, 3 January 2006
This page contains the material for a sequence of lectures on control law implementation. Each lecture is its own section, with an outline and links to handouts and other reference material. This page is focused on the course project for Winter 2006: steering control for Alice.
Alice Architecture
Lecture 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
Steering Dynamics and Control Specification
Lecture Outline
- Video of Alice follower performance
- External view
- Internal (planner) view
- Alice dynamics
- Bicycle model
- Nonlinear effects: magnitude and rate limits
- Controller specification (from DGC05)
Control Implementation
Lecture Outline
- Interface hardware
- Actuation: steering, (throttle, brake)
- Sensing: GPS, IMU, steering angle
- Serial interface summary
- Interface software (follow)
- Quick overview of sparrow
- Description of the control architecture (handout)
- Overview of the user interface
- Implementing controllers on Alice
- Example: PI control of steering
