Glue Lecture 7 Slides

Smriti Chopra ECE Ph.D. Candidate Georgia Tech

Instructor:

Control of Mobile Robots: Glue Lectures

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Glue Lecture 7: In a nutshell

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Math to motion … x(t) = f(x, t)

x(t⇤) = x

⇤

x(t) = 2x

x(0) = 10

x(t) = x0 e2(t�t0)= 10e2t

Dynamical  models  

Math to motion …

Dynamical  models  

(a) (b)

x =

R

2

(vr + vl) cos�

y =

R

2

(vr + vl) sin�

˙

� =

R

L

(vr � vl)

x = v cos�

y = v sin�

˙

� = !

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Systems

(A,B,C)u y

model actuators

sensors

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We can make robots do anything! Stability  Controllability  Observability  Automata    No  Zeno  Effect  …..  

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We can make robots do anything .. with math! Differen=al  Equa=ons  Linear  Algebra  Geometry  

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Signing off…

GRITSLab  Youtube  Channel  

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GRITSLab  Youtube  Channel  

Good luck with Quiz 7… and the rest of your lives !!