CDS 112, Winter 2015 - Course Schedule: Difference between revisions
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| Background for the Kalman Filter: Jointly Gaussian variables [http://robotics.caltech.edu/~jwb/CDS112/CDS112_Lecture_Estimation2.pptx PowerPoint Slides] | | Background for the Kalman Filter: Jointly Gaussian variables ([http://robotics.caltech.edu/~jwb/CDS112/CDS112_Lecture_Estimation2.pptx PowerPoint Slides], [http://robotics.caltech.edu/~jwb/CDS112/CDS112_Lecture_Estimation2.pdf PDF Slides]) | ||
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Revision as of 18:09, 20 February 2015
| CDS 112 | Schedule | Course Texts: OBC, Anderson&Moore Control Anderson&Moore Estimation |
This page contains the tentative course schedule for CDS 112. When appropriate, electronic lecture notes will be posted some time before class (usually on the same day). Note that lecture topics beyond a few weeks in advance of the current class date are a guesstimate based on previous year's lectures at the comparable date. However, they are subject to change.
| Week | Date | Topic | Reading | Homework |
| 1 |
Introduction and Optimal Control | |||
| 5 Jan (M) | Course overview, review of optimization (PowerPoint Lecture Slides, Lecture Slides in PDF) | OBC Ch 2.1 | Homework 1 Solution 1 | |
| 7 Jan (W) | Pontryagin's Maximum Principle (PowerPoint Lecture Slides, Lecture Slides in PDF) | |||
| 9 Jan (F) | Pontryagin's Maximum Principle (continued) (PowerPoint Lecture Slides, Lecture Slides in PDF) | |||
| 3 |
Optimal Control and Linear Quadratic Regulators | |||
| 12 Jan (M) | Bang-Bang Example (PowerPoint Lecture Slides Lecture Slides in PDF) | OBC Ch 2.4 | ||
| 14 Jan (W) | Bang-Bang continued, and start of LQR | OBC Ch 2.5 | ||
| 16 Jan (F) | LQR and its properties | OBC Ch 2.5 | ||
| 3 |
Linear Quadratic Regulator | |||
| 19 Jan (M) | - No Class - Institute Holiday (MLK) | Homework 2 | ||
| 21 Jan (W) | LQR Properties continued (PowerPoint Lecture Slides, Lecture Slides in PDF) | |||
| 23 Jan (F) | LQR properties, intro to Discrete Time LQR | |||
| 4 |
Dynamic Programming | |||
| 26 Jan (M) | Discrete Time LQR, Intro to Dynamic Programming (PowerPoint Lecture Slides, Lecture Slides in PDF) | Lewis, Chapter 2 | ||
| 28 Jan (W) | Dynamic Programming (DP)--The Hamilton-Jacobi-Bellman Equation | Lewis, Chapter 6 | ||
| 30 Feb (F) | DP and LQR | Anderson and Moore Control, pages 12-26 | ||
| 5 |
Optimal Control Wrap Up | |||
| 2 Feb (M) | Hamilton Jacobian and intro to Calculus of Variations | Homework 3 | ||
| 4 Feb (W) | Calculus of Variations (Brachistochrone Solution) | |||
| 6 Feb (F) | Receding Horizon Control | OBC Ch 3.1, 3.2, 3.4 | ||
| 6 |
Estimation: Pathway to the Kalman Filter | |||
| 9 Feb (M) | Receding Horizon Control | Homework #4 | ||
| 11 Feb (W) | Estimation Overview Filter | OBC 4.1-4.3 | ||
| 13 Feb (F) | Probability Review Lecture Slides (PPT) (PDF format) | OBC 4.1-4.3 Anderson&Moore Estimation, Appendix A | ||
| 7 |
Estimation | |||
| 16 Feb (M) | - No Class - Institute Holiday (President's Day) | |||
| 18 Feb (W) | Principles of Estimation & Covariance Propagation | Anderson&Moore Estimation, Chapter 2.1, 2.2 | ||
| 20 Feb (F) | Background for the Kalman Filter: Jointly Gaussian variables (PowerPoint Slides, PDF Slides) | |||
| 8 |
Estimation | |||
| 23 Feb (M) | Kalman Filter Analysis | |||
| 25 Feb (W) | The Extended Kalman Filter | |||
| 27 Feb (F) | Fixed Lag Smoothing | |||
| 9 |
Estimation | |||
| 2 Mar (M) | The continuous time Kalman Filter | |||
| 4 Mar (W) | Beyond the Kalman Filter, Particle Filters | |||
| 6 Mar (F) | Particle Filters (continued) | |||
| 10 |
Special Topics | |||
| 9 Mar (M) | TBD | |||
| 11 Mar (W) | TBD | |||
| 13 Mar (F) | - No Class -- (Beginning of Study Period) | |||
