Control of Mobile Robots: Glue Lectures

Instructor:

Smriti Chopra
ECE Ph.D. Candidate
Georgia Tech
 Purpose

To connect lectures to quizzes

To give helpful hints about the quizzes

To clarify and repeat key concepts

There will be one Glue Lecture every week

Last years instructor

Amy LaViers
Assistant Professor
University of Virginia

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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Glue Lecture 1: Dynamical Models

Pay attention, this lecture will help you all with Quiz 1!

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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 An example: Position

t0 = 0, x0 = 10 a = 2
80

70
a(t t0 )
x(t) = x0 e 60

50

Position
40

30

20

10

0
0 0.2 0.4 0.6 0.8 1
Time

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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Velocity

t0 = 0, x0 = 10 a = 2
140

120
a(t t0 )
x(t) = x0 e 100

a(t t0 ) 80

Velocity
x(t) = ax0 e
60

= ax(t) 40

20

0
0 0.2 0.4 0.6 0.8 1
Time

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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 And further on

t0 = 0, x0 = 10 a = 2
300

250
a(t t0 )
x(t) = x0 e 200

Acceleration
x(t) = ax0 ea(t t0 )
150

= ax(t) 100

50
2 a(t t0 )
x(t) = a x0 e
0
0 0.2 0.4 0.6 0.8 1
2
= a x(t) Time

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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 In Action
x(t) = x0 e2(t t0 )

= 10e2t

10 x

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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Using the differential equation
x(t) = 2x

x(0) = 10

10 x

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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Lets discretize the world

0 0.5 1 1.5 2 2.5 3 t

k=0

t = 0.5
t=k t

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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Lets discretize the world

0 0.5 1 1.5 2 2.5 3 t

k=0 k=1

t = 0.5
t=k t

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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Lets discretize the world

0 0.5 1 1.5 2 2.5 3 t

k=0 k=1 k=2

t = 0.5
t=k t

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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Lets discretize the world

0 0.5 1 1.5 2 2.5 3 t

k=0 k=1 k=2 k=3

t = 0.5
t=k t

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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Now hows the ball moving?

10 x

0 0.5 1 1.5 2 2.5 3 t

k=0 k=1 k=2 k=3

x(t) = 2x continuous time

t2
xk+1 = xk + txk + xk + .. discrete time

2!
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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Now hows the ball moving?

10 x

0 0.5 1 1.5 2 2.5 3 t

k=0 k=1 k=2 k=3

x(t) = 2x t = 0.5
t=k t
t2
xk+1 = xk + txk + xk + .. discrete time

2!
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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Now hows the ball moving?

10 x

0 0.5 1 1.5 2 2.5 3 t

k=0 k=1 k=2 k=3

x(t) = 2x t = 0.5 t=k t

xk+1 = 2xk
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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Now hows the ball moving?

10 x

0 0.5 1 1.5 2 2.5 3 t

k=0 k=1 k=2 k=3

x0 = 10
xk+1 = 2xk
x1 = 2x0
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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Now hows the ball moving?

10 20 x

0 0.5 1 1.5 2 2.5 3 t

k=0 k=1 k=2 k=3

x0 = 10
xk+1 = 2xk
x1 = 20
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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Now hows the ball moving?

10 20 x

0 0.5 1 1.5 2 2.5 3 t

k=0 k=1 k=2 k=3
x1 = 20
xk+1 = 2xk
x2 = 2x1
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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Now hows the ball moving?

10 20 40 x

0 0.5 1 1.5 2 2.5 3 t

k=0 k=1 k=2 k=3
x1 = 20
xk+1 = 2xk
x2 = 40
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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Now hows the ball moving?

10 20 40 x

0 0.5 1 1.5 2 2.5 3 t

k=0 k=1 k=2 k=3

x2 = 40
xk+1 = 2xk
x3 = 2x2
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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Now hows the ball moving?

10 20 40 80 x

0 0.5 1 1.5 2 2.5 3 t

k=0 k=1 k=2 k=3

x2 = 40
xk+1 = 2xk
x3 = 80
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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 And . thats a dynamical model!

x(t) = 2x
x(0) = 10

In general,

x(t) = f (x, t)
x(t ) = x

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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Punchline: Given the following dynamical model .

x(t) = 2x
x(0) = 10

you know how x evolves J

numerically

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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Punchline: Given the following dynamical model .

x(t) = 2x
x(0) = 10

To get the mathematical expression for x(t), we integrate!

Hint : we already know the solution

x(t) = x0 e2(t t0 )
= 10e2t
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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Integration

x(t) = 2x
x(0) = 10

woohoo !!

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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Candidate solution

x(t) = 2x
x(0) = 10
x(t) = 10e2t

perform the following two checks to confirm candidate is indeed the

solution

(a) Initial condition

(b) Differential equation

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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Take home message :

1) Dynamical models

x(t) = 9x + 3 4) Equilibrium point


x(3) = 5
x(t) = 0
2) Solving them
x = 1/3


(i) Numerically



(ii) Analytically (integration)



16 9(t 1
3) Checking a candidate solution
x(t) = e 3)

(a) initial condition
3 3


(b) differential equation





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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

 Check the forums, and good luck with Quiz 1!

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Smriti Chopra - Control of Mobile Robots: Glue Lecture 1