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

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!

Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

An example: Position

80

t0 = 0, x0 = 10 a = 2

70

x(t) = x0 e

a(t t0 )

60
Position

50
40
30
20
10
0
0

0.2

0.4

0.6
Time

Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

0.8

Velocity

140

t0 = 0, x0 = 10 a = 2

120

x(t)

= ax0 e

a(t t0 )

= ax(t)

100

Velocity

x(t) = x0 e

a(t t0 )

80
60
40
20
0
0

0.2

0.4

0.6
Time

Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

0.8

And further on

300

x(t)

= ax0 ea(t

t0 )

= ax(t)
2

x
(t) = a x0 e

200
150
100

a(t t0 )

= a x(t)
6

250

a(t t0 )
Acceleration

x(t) = x0 e

t0 = 0, x0 = 10 a = 2

Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

50
0
0

0.2

0.4

0.6
Time

0.8

In Action

t0 )

= 10e2t
10

x(t) = x0 e2(t

Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

Using the differential equation

10

Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

x(t)

= 2x
x(0) = 10
x

Lets discretize the world

k=0

0.5

t = 0.5
t=k t

Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

1.5

2.5

Lets discretize the world

0.5

k=0 k=1

t = 0.5
t=k t

10
Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

1.5

2.5

Lets discretize the world

0.5

k=0 k=1 k=2

t = 0.5
t=k t

11
Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

1.5

2.5

Lets discretize the world

0.5

1.5

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

t = 0.5
t=k t

12
Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

2.5

Now hows the ball moving?

10
0

0.5

1.5

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

2.5

x(t)

= 2x continuous time

t2
xk+1 = xk + tx k +
x
k + .. discrete time

2!
13
Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

Now hows the ball moving?

10
0

0.5

1.5

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

xk+1

2.5

t=k t
t2
= xk + tx k +
x
k + .. discrete time

2!

x(t)

= 2x

t = 0.5

14
Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

Now hows the ball moving?

10
0

0.5

1.5

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

x(t)

= 2x

t = 0.5

xk+1 = 2xk
15
Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

t=k t

2.5

Now hows the ball moving?

10
0

0.5

1.5

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

x0 = 10
xk+1 = 2xk
x1 = 2x0
16
Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

2.5

Now hows the ball moving?

10

20

0.5

x
1

1.5

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

x0 = 10
xk+1 = 2xk
x1 = 20
17
Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

2.5

Now hows the ball moving?

10

20

0.5

x
1

1.5

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

x1 = 20
xk+1 = 2xk
x2 = 2x1
18
Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

2.5

Now hows the ball moving?

10

20

0.5

40
1

1.5

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

x1 = 20
xk+1 = 2xk
x2 = 40
19
Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

2.5

Now hows the ball moving?

10

20

0.5

40
1

1.5

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

x2 = 40
xk+1 = 2xk
x3 = 2x2
20
Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

2.5

Now hows the ball moving?

10

20

0.5

40
1

1.5

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

x2 = 40
xk+1 = 2xk
x3 = 80
21
Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

80
2

2.5

x
t

And . thats a dynamical model!

x(t)

= 2x
x(0) = 10
In general,

x(t)

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

22
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

23
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

24
Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

Integration

x(t)

= 2x
x(0) = 10

woohoo !!

25
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

26
Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

Take home message :

1) Dynamical models

x(t)

= 9x + 3


x(3) = 5
2) Solving them



(i) Numerically

4) Equilibrium point

x(t)

=0
x = 1/3

(ii) Analytically (integration)

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


(a) initial condition




(b) differential equation






27
Smriti Chopra - Control of Mobile Robots: Glue Lecture 1

3)

1
3

Check the forums, and good luck with Quiz 1!

28
Smriti Chopra - Control of Mobile Robots: Glue Lecture 1