CDS 110b: Two Degree of Freedom Control Design: Difference between revisions
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{{cds110b- | {{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- | * {{cds110b-wi08 pdfs|L1-1_intro.pdf|Course overview}} | ||
* {{cds110b- | * {{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|hw1.pdf|Homework 1}} (due 14 Jan @ 5 pm) | |||
* {{cds110b- | |||
** {{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 == | ||
* {{ | * {{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
- Course overview
- Lecture notes: trajectory tracking and gain scheduling
- Lecture notes: trajectory generation and differential flatness
- Homework 1 (due 14 Jan @ 5 pm)
- normsteer.m - Normalized model for steering control system
References and Further Reading
- Template:AM07 supplement
- K. J. Åström and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Preprint, 2007. 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.
