Difference between revisions of "Supplement: Optimization-Based Control"
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| + | {{supheader|Optimization-Based Control}} | ||
| + | <font size="+1">Richard M. Murray (Caltech)</font> | ||
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These notes serve as a supplement to ''Feedback Systems'' by {{Astrom}} and Murray and expand on some of the topics introduced there. Our focus is on the use of optimization-based methods for control, including optimal control theory, receding horizon control and Kalman filtering. Each chapter is intended to be a standalone reference for advanced topics that are introduced in ''Feedback Systems''. | These notes serve as a supplement to ''Feedback Systems'' by {{Astrom}} and Murray and expand on some of the topics introduced there. Our focus is on the use of optimization-based methods for control, including optimal control theory, receding horizon control and Kalman filtering. Each chapter is intended to be a standalone reference for advanced topics that are introduced in ''Feedback Systems''. | ||
| − | + | '''Note:''' These notes are in draft form and may contain errors. Permission is granted to download and print a copy for individual use, but this material may not be reproduced, in whole or in part, without written consent from the author. | |
| − | * Chapter 2: | + | |
| + | {{OBC quick links}} | ||
| + | ===== News ([[OBC:Archived news|archive]]) ===== | ||
| + | * 15 Feb 10: updated version of Chapter 4 (stochastic systems) is posted; multiple fixes + some new material | ||
| + | * 3 Jan 10: posted updated version of Chapters 1 and 2 (mainly small fixes) + working errata link | ||
| + | * 22 Dec 09: updated versions of all chapters posted; working through small fixes over the next few weeks | ||
| + | * 22 Dec 09: updated supplement main page to a new format | ||
| + | * 4 Jan 09: Version 2.0b posted - fixes and error corrections for chapters 1-4 | ||
| + | <p> | ||
| − | === | + | === Contents === |
| − | * | + | {| width=100% border=1 |
| − | * | + | |- valign=top |
| − | * | + | | width=50% | |
| + | * {{OBC pdf|Contents and Preface|obc-frontmatter|03Jan10}} | ||
| + | * {{OBC pdf|Ch 1 - Trajectory Generation and Tracking|obc-trajgen|03Jan10}} | ||
| + | ** Two Degree of Freedom Design | ||
| + | ** Trajectory Tracking and Gain Scheduling | ||
| + | ** Trajectory Generation and Differential Flatness | ||
| + | * {{OBC pdf|Ch 2 - Optimal Control|obc-optimal|27Oct18}} | ||
| + | ** Review: Optimization | ||
| + | ** Optimal Control of Systems | ||
| + | ** Examples | ||
| + | ** Linear Quadratic Regulators | ||
| + | ** Choosing LQR Weights | ||
| + | ** Advanced Topics | ||
| + | * {{OBC pdf|Ch 3 - Receding Horizon Control|obc-rhc|22Dec09}} | ||
| + | ** Optimization-Based Control | ||
| + | ** Receding Horizon Control with CLF Terminal Cost | ||
| + | ** Receding Horizon Control Using Differential Flatness | ||
| + | ** Implementation on the Caltech Ducted Fan | ||
| + | | width=50% | | ||
| + | * {{OBC pdf|Ch 4 - Stochastic Systems|obc-stochastic|15Feb10}} | ||
| + | ** Review of Random Variables | ||
| + | ** Introduction to Random Processes | ||
| + | ** Continuous-Time, Vector-Valued Random Processes | ||
| + | ** Linear Stochastic Systems | ||
| + | ** Random Processes in the Frequency Domain | ||
| + | * {{OBC pdf|Ch 5 - Kalman Filtering|obc-kalman|22Dec09}} | ||
| + | ** Linear Quadratic Estimators | ||
| + | ** Extensions of the Kalman Filter | ||
| + | ** LQG Control | ||
| + | ** Application to a Vectored Thrust Aircraft | ||
| + | * {{OBC pdf|Ch 6 - Sensor Fusion|obc-fusion|22Dec09}} | ||
| + | ** Discrete-Time Stochastic Systems | ||
| + | ** Kalman Filters in Discrete Time | ||
| + | ** Predictor-Corrector Form | ||
| + | ** Sensor Fusion | ||
| + | ** Information Filters | ||
| + | ** Additional Topics | ||
| + | * {{OBC pdf|Bibliography and Index|obc-backmatter|15Feb10}} | ||
| + | |} | ||
Latest revision as of 19:43, 27 October 2018
Richard M. Murray (Caltech)
These notes serve as a supplement to Feedback Systems by Åström and Murray and expand on some of the topics introduced there. Our focus is on the use of optimization-based methods for control, including optimal control theory, receding horizon control and Kalman filtering. Each chapter is intended to be a standalone reference for advanced topics that are introduced in Feedback Systems.
Note: These notes are in draft form and may contain errors. Permission is granted to download and print a copy for individual use, but this material may not be reproduced, in whole or in part, without written consent from the author.
|
News (archive)
- 15 Feb 10: updated version of Chapter 4 (stochastic systems) is posted; multiple fixes + some new material
- 3 Jan 10: posted updated version of Chapters 1 and 2 (mainly small fixes) + working errata link
- 22 Dec 09: updated versions of all chapters posted; working through small fixes over the next few weeks
- 22 Dec 09: updated supplement main page to a new format
- 4 Jan 09: Version 2.0b posted - fixes and error corrections for chapters 1-4
Contents
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