airsus / MEC231B_Spring_2018

MEC231B Experiential Advanced Control Design II at UC Berkeley (Spring 2018)

MEC231B

Experiential Advanced Control Design II (Spring 2018)

Drone Dynamics and Control

Refer to my another github folder: Parrot Spider Development Lab Work

Midterm 1

Basic drone dynamics questions and Kalman Filter knowledge

Kalman Filter Homework

Basic KF and EKF understanding

Robust Control Homework

Some Robust Control Examples

Lab5

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

Lab6

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

Midterm 2

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