CDS 110b: Control Implementation

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

1. Course Project Structure
2. Brief Introduction to Alice
   • High level architecture
   • Control specifications
   • Inner loop control architecture: Follower, AState
3. Alice operations (video): desert testing, NQE, GCE

Dynamics and Control Specification

Lecture Outline

1. Video of Alice follower performance
   • External view
   • Internal (planner) view
2. Alice dynamics
   • Bicycle model
   • Nonlinear effects: magnitude and rate limits
3. Controller specification (from DGC05)

Control Implementation

Lecture Outline

1. Interface hardware
   • Actuation: steering, (throttle, brake)
   • Sensing: GPS, IMU, steering angle
   • Serial interface summary
2. Interface software (follow)
   • Quick overview of sparrow
   • Description of the control architecture (handout)
   • Overview of the user interface
3. Implementing controllers on Alice
   • Example: PI control of steering