Difference between revisions of "CDS 110b: Two Degree of Freedom Control Design"

From MurrayWiki
Jump to: navigation, search
(Course Materials)
(Course Materials)
Line 6: Line 6:
 
* {{cds110b-wi07 pdfs|L6-2_flatness.pdf|Notes on differential flatness}}
 
* {{cds110b-wi07 pdfs|L6-2_flatness.pdf|Notes on differential flatness}}
 
* Partial [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/12Feb07.mp3 MP3] of Monday lecture, 12 Feb 2007
 
* Partial [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/12Feb07.mp3 MP3] of Monday lecture, 12 Feb 2007
 +
* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/14Feb07.mp3 MP3] of Wednesday lecture, 14 Feb 2007
 
* {{cds110b-wi07 pdfs|hw6.pdf|Homework 6}} (due 22 Feb @ 5 pm)
 
* {{cds110b-wi07 pdfs|hw6.pdf|Homework 6}} (due 22 Feb @ 5 pm)
 
** {{cds110b-wi07 pdfs|normsteer.m|normsteer.m}} - Normalized model for steering control system
 
** {{cds110b-wi07 pdfs|normsteer.m|normsteer.m}} - Normalized model for steering control system

Revision as of 19:53, 21 February 2007

WARNING: This page is for a previous year.
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

References and Further Reading

Frequently Asked Questions