Difference between revisions of "CDS 110b: Two Degree of Freedom Control Design"
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* {{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 | * Notes on differential flatness | ||
* 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 04:42, 13 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)
