OBC: Optimal Control
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Trajectory Generation and Tracking | Optimal Control | Receding Horizon Control |
This set of notes expands on Chapter 6 - State Feedback of the main text, which introduces the concepts of reachability and state feedback. We also expand on topics in Section 7.5 in the area of feedforward compensation. Beginning with a review of optimization, we introduce the notion of Lagrange multipliers and provide a summary of the Pontryagin’s maximum principle. Using these tools we derive the linear quadratic regulator for linear systems and describe its usage.
- Chapter PDF (4 Jan 09)