| 1 |
Course overview & nonlinear dynamics intro |
notes, code |
Ch. 1 Khalil, Ch. 1 Tedrake, Lec1 Tedrake |
| 2 |
Nonlinear systems analysis |
notes, code |
Ch. 2.0-2.3 Khalil, pg 15-19 Strogatz, Ch. 2 Tedrake, Lec2 Tedrake |
| 3 |
Lyapunov Theory |
notes |
Ch. 3.1, 3.4, 4.0, 4.1 Khalil, Ch. 9.1 Tedrake, Lec7 Tedrake |
| 4 |
Lyapunov Theory & Invariance |
notes |
Ch. 4.0 - 4.3 Khalil, Ch. 9.1 Tedrake, Lec7 Tedrake |
| 5 |
Invariance & Lyapunov Wrap Up |
notes |
Ch. 4.4, 4.5 Khalil, Ch. 9.1.2 Tedrake, Lec7 Tedrake |
| 6 |
Intro to Robot Control |
notes |
Ch. 5 MLS, Ch. 9.3 Tedrake, Lec7 Tedrake |
| 7 |
Underactuated Robots and PFL |
notes |
Ch. 3 Tedrake, Lec5 Tedrake, Chung & Hauser, Pustina et al. |
| 8 |
Exam Review |
|
Khalil Exercises and Solutions, Tedrake Midterm (Solutions) |
| 9 |
QPs, CLFs |
notes |
ID-QP, ID-CLF-QP - Reher et al., QPs, CLFs, CBFs - Nyguyen and Sreenath |
| 10 |
Exam |
|
Khalil Exercises and Solutions, Tedrake Midterm (Solutions) |
| 11 |
CBFs, Optimal Control |
notes |
QPs, CLFs, CBFs - Nyguyen and Sreenath, Ch. 7 Tedrake, Lec3 Tedrake, Lec4 Tedrake |
| 12 |
LQR, Dynamic Programming |
notes, code |
Ch. 7 Tedrake, Ch. 8 Tedrake, Lec3 Tedrake, Lec4 Tedrake |
| 13 |
Controllability, MPC |
notes, code |
Controllability, Lec10 Manchester |
| 14 |
DDP |
notes, code |
iLQR Paper - Li and Todorov, Ignat Georgiev tutorial Lec10 Manchester |
| 15 |
Direct Collocation |
notes, code |
Ch. 10 Tedrake, Lec10 Tedrake, Lec11 Tedrake |
| 16 |
Limit Cycles and Hybrid Systems |
|
Ch. 4 Tedrake, Ch. 17 Tedrake |
| 17 |
Stabilizing Hybrid Limit Cycles |
|
Ch. 16 Tedrake, Hybrid Zero Dynamics - Westervelt, Grizzle, Koditschek |
| 18 |
MPC and Trajectory optimization through contact |
code |
MIT Cheetah 3 - Bledt et al., Ch. 17 Tedrake |
| 19 |
Hybrid TrajOpt Wrapup, Dealing with Quaternions |
|
Optimization-Based Control for Dynamic Legged Robots - Wensing et al., Planning with Attitute - Jackson, Tracy, and Manchester |
| 20 |
Robust & Adaptive Control |
|
Ch. 14.2 Khalil, Robust CLF Control - Nyguyen and Sreenath, Adaptive CLF Control - Nyguyen and Sreenath |
| 21 |
Stochastic LQR |
code |
Ch. 13.4 Tedrake |
| 22 |
Tube MPC and Input Output Stability |
|
Ch. 13.4 Tedrake, Anil Aswani Notes on Tube MPC, Ch. 5 Khalil |
| 23 |
$L_2$ Stability, Passivity, Robust LQR |
|
Ch. 5 & 6 Khalil, Ch. 13.4 Tedrake |
| 24 |
Output Feedback, High Gain Observers |
|
Ch. 14.5 Khalil, General Nonlinear Observers - Ciccarella, Dalla Mora, and Germani |
| 25 |
Optimal Estimation, Kalman Filter |
code |
Kalman Filter |
| 26 |
Feedback From Cameras |
|
Pixels to Torques with Linear Observers - Lee, Schoedel, Bhardwaj, Manchester, Ch. 21 Tedrake |