CDS 110b: Control Implementation

From Murray Wiki
Jump to navigationJump to search

Lecture 1 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

Lecture 2 Outline

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

Lecture 3 Outline

  1. Interface hardware
  2. Interface software (follow)
  3. Implementing controllers on Alice
Retrieved from "https://murray.cds.caltech.edu/index.php?title=CDS_110b:_Control_Implementation&oldid=2840"