CDS 110b: Two Degree of Freedom Control Design: Difference between revisions
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== Course Materials == | == Course Materials == | ||
* {{cds110b-wi07 pdfs|L6-1_tracking.pdf|Notes on trajectory tracking}} | * {{cds110b-wi07 pdfs|L6-1_tracking.pdf|Notes on trajectory tracking}} | ||
* Notes on differential flatness | * {{cds110b-wi07 pdfs|L6-2_flatness.pdf|Notes on differential flatness}} | ||
* Partial [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/12Feb07.mp3 MP3] of Monday lecture, 12 Feb 2007 | * Partial [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/12Feb07.mp3 MP3] of Monday lecture, 12 Feb 2007 | ||
* Homework 6 (due 22 Feb @ 5 pm) | * Homework 6 (due 22 Feb @ 5 pm) | ||
Revision as of 15:25, 14 February 2007
See current course homepage to find most recent page available. |
| CDS 110b | Schedule | Project | FAQ | Reading |
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
- Notes on trajectory tracking
- Notes on differential flatness
- Partial MP3 of Monday lecture, 12 Feb 2007
- Homework 6 (due 22 Feb @ 5 pm)
- normsteer.m - Normalized model for steering control system
References and Further Reading
- K. J. Åström and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Preprint, 2006. 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.
