Experiential Advanced Control Design II (Spring 2018)
Refer to my another github folder: Parrot Spider Development Lab Work
Basic drone dynamics questions and Kalman Filter knowledge
Basic KF and EKF understanding
Some Robust Control Examples
Kalman filter and Extended kalman filter applied to bicycle vehicle model
- Three basic scenarios simulations:
Lab5/p1
- Nonlinear Dynamics based on Euler model:
Lab5/p2
- Linearization for EKF:
Lab5/p3
- KF Implementation:
Lab5/p4
- EKF Implementation:
Lab5/p5
Path planning material, including RRT and Dynamic Optimization
- Standard RRT (no obstacles):
Lab6/q1
- Standard RRT (with obstacles):
Lab6/q2
- Standard RRT with Vehicle Kinetic Model (no obstacles):
Lab6/q3
- Standard RRT with Vehicle Kinetic Model (with obstacles):
Lab6/q4
- Navigation problem formulated as nonlinear programming (question 7) or mixed integer quadratic programming (question 8):
Lab6/q7q8
Robust Analysis and Extended Kalman Filter, personal answers are in the Midterm2/allfiles/
Parking Navigation:
- No obstacles:
q1b.m
- 3 steps parking with obstacles:
q1b.m
- more steps parking with obstacles:
q1c.m
- signed distance formulation used:
q1d.m
- convexication for steering left and right:
q1e.m
Robust Analysis
See more details in q2.m
,q3.m
,q4.m
,q5.m