CDS 110b: Two Degree of Freedom Control Design
Revision as of 19:53, 21 February 2007 by Carson
See current course homepage to find most recent page available.
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.
- Notes on trajectory tracking
- Notes on differential flatness
- Partial MP3 of Monday lecture, 12 Feb 2007
- MP3 of Wednesday lecture, 14 Feb 2007
- Homework 6 (due 22 Feb @ 5 pm)
- normsteer.m - Normalized model for steering control system
References and Further Reading
- K. J. Åström and R. M. Murray,, Preprint, 2006.. Section 7.5
- Real Time Trajectory Generation for Differentially Flat Systems, M. J. van Nieuwstadt and R. M. Murray, Int'l. J. Robust & Nonlinear Control 8:(11) 995-1020, 1998.