Difference between revisions of "Supplement: Optimization-Based Control"
Jump to navigation
Jump to search
| (16 intermediate revisions by the same user not shown) | |||
| Line 6: | Line 6: | ||
'''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. | '''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 ([[OBC:Archived news|archive]]) ===== | + | ===== News ([[OBC: Archived news|archive]]) ===== |
| − | * 15 Feb | + | * Jan-Feb 2022: updated versions of Chapters 2-7 (version 2.2d) posted roughly every week |
| − | * 3 Jan | + | * 21 Dec 2021: added new Chapter 1 (introduction) and starting to post updates for v2.2 |
| − | * 22 Dec | + | * 15 Feb 2010: updated version of Chapter 4 (stochastic systems) is posted; multiple fixes + some new material |
| − | + | * 3 Jan 2010: posted updated version of Chapters 1 and 2 (mainly small fixes) + working errata link | |
| − | + | * 22 Dec 2009: updated versions of all chapters posted; working through small fixes over the next few weeks | |
<p> | <p> | ||
| Line 18: | Line 18: | ||
|- valign=top | |- valign=top | ||
| width=50% | | | width=50% | | ||
| − | * {{OBC pdf|Contents and Preface|obc-frontmatter| | + | * {{OBC pdf|Contents and Preface|obc-frontmatter|29Dec2021}} |
| − | * {{OBC pdf|Ch 1 - Trajectory Generation and Tracking|obc-trajgen| | + | * {{OBC pdf|Ch 1 - Introduction|obc-intro|29Dec2021}} |
| + | ** System and Control Design | ||
| + | ** The Control System “Standard Model” | ||
| + | ** Layered Control Systems | ||
| + | ** The Python Control Systems Library (python-control) | ||
| + | * {{OBC pdf|Ch 2 - Trajectory Generation and Tracking|obc-trajgen|08Jan2022}} | ||
** Two Degree of Freedom Design | ** Two Degree of Freedom Design | ||
** Trajectory Tracking and Gain Scheduling | ** Trajectory Tracking and Gain Scheduling | ||
** Trajectory Generation and Differential Flatness | ** Trajectory Generation and Differential Flatness | ||
| − | * {{OBC pdf|Ch | + | * {{OBC pdf|Ch 3 - Optimal Control|obc-optimal|19Jan2022}} |
** Review: Optimization | ** Review: Optimization | ||
** Optimal Control of Systems | ** Optimal Control of Systems | ||
| Line 30: | Line 35: | ||
** Choosing LQR Weights | ** Choosing LQR Weights | ||
** Advanced Topics | ** Advanced Topics | ||
| − | * {{OBC pdf|Ch | + | * {{OBC pdf|Ch 4 - Receding Horizon Control|obc-rhc|31Jan2022}} |
** Optimization-Based Control | ** Optimization-Based Control | ||
** Receding Horizon Control with CLF Terminal Cost | ** Receding Horizon Control with CLF Terminal Cost | ||
| Line 36: | Line 41: | ||
** Implementation on the Caltech Ducted Fan | ** Implementation on the Caltech Ducted Fan | ||
| width=50% | | | width=50% | | ||
| − | * {{OBC pdf|Ch | + | * {{OBC pdf|Ch 5 - Stochastic Systems|obc-stochastic|07Feb2022}} |
** Review of Random Variables | ** Review of Random Variables | ||
** Introduction to Random Processes | ** Introduction to Random Processes | ||
| Line 42: | Line 47: | ||
** Linear Stochastic Systems | ** Linear Stochastic Systems | ||
** Random Processes in the Frequency Domain | ** Random Processes in the Frequency Domain | ||
| − | * {{OBC pdf|Ch | + | * {{OBC pdf|Ch 6 - Kalman Filtering|obc-kalman|13Feb2022}} |
** Linear Quadratic Estimators | ** Linear Quadratic Estimators | ||
** Extensions of the Kalman Filter | ** Extensions of the Kalman Filter | ||
** LQG Control | ** LQG Control | ||
** Application to a Vectored Thrust Aircraft | ** Application to a Vectored Thrust Aircraft | ||
| − | * {{OBC pdf|Ch | + | * {{OBC pdf|Ch 7 - Sensor Fusion|obc-fusion|23Feb2022}} |
** Discrete-Time Stochastic Systems | ** Discrete-Time Stochastic Systems | ||
** Kalman Filters in Discrete Time | ** Kalman Filters in Discrete Time | ||
Revision as of 19:51, 23 February 2022
|
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)
- Jan-Feb 2022: updated versions of Chapters 2-7 (version 2.2d) posted roughly every week
- 21 Dec 2021: added new Chapter 1 (introduction) and starting to post updates for v2.2
- 15 Feb 2010: updated version of Chapter 4 (stochastic systems) is posted; multiple fixes + some new material
- 3 Jan 2010: posted updated version of Chapters 1 and 2 (mainly small fixes) + working errata link
- 22 Dec 2009: updated versions of all chapters posted; working through small fixes over the next few weeks
Contents
|
|