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Control of Mobile Robots: Glue Lectures: Instructor

This document summarizes key concepts from a lecture on controlling mobile robots: 1) System stability and controllability were discussed using examples of state space models. Adding control inputs can make previously unstable systems controllable and stable. 2) On a simpler example system, state feedback control was designed by choosing control gains to place the closed-loop system's eigenvalues in the left half plane, rendering it stable. 3) Observability was also addressed, with the example system being observable due to being able to measure one of its states. 4) Finally, the full process was outlined, from modeling the system to closed-loop control using state estimation and feedback to track a reference state over time.

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yashar2500
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© © All Rights Reserved
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89 views23 pages

Control of Mobile Robots: Glue Lectures: Instructor

This document summarizes key concepts from a lecture on controlling mobile robots: 1) System stability and controllability were discussed using examples of state space models. Adding control inputs can make previously unstable systems controllable and stable. 2) On a simpler example system, state feedback control was designed by choosing control gains to place the closed-loop system's eigenvalues in the left half plane, rendering it stable. 3) Observability was also addressed, with the example system being observable due to being able to measure one of its states. 4) Finally, the full process was outlined, from modeling the system to closed-loop control using state estimation and feedback to track a reference state over time.

Uploaded by

yashar2500
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 23

Control of Mobile Robots: Glue Lectures

Instructor:
Smriti Chopra
ECE Ph.D. Candidate
Georgia Tech

Glue Lecture 4: Controllability and Observability



Pay attention, this lecture will help you all with Quiz 4!

System Stability

1
6 1 7
6
6
7
6
x=4
A
=
4
2 5
2

x = Ax

In Matlab:

All eigen values of A are zero!
Unstable !!!

3

0
0
0
0

1
0
0
0

0
0
0
0

0
0 7
7
1 5
0

1
0 1 0 0
6 0 0 0 0 7
Introduce Control
66 1 77
6
7
x=4
A
=
4 0 0 0 1 5
2 5
0 0 0 0
2
2
3
0
6 1 7
1

7
B=6

Say
we
can
control
4 0 5
0
2
3
x = Ax + Bu Controllable ??

0 1 0 0
6 1 0 0 0 7

7
=6
= B AB A2 B A3 B
4 0 0 0 0 5 rank( ) = 2
6= 4
0 0 0 0

1
0 1 0 0
6 0 0 0 0 7
Introduce Control
66 1 77
6
7
x=4
A
=
4 0 0 0 1 5
2 5
0 0 0 0
2
2
3
0
6 1 7
1

7
B=6

Say
we
can
control
4 0 5
0
x = Ax + Bu Uncontrollable !!!
2 0 1 0 0 3
6 1 0 0 0 7

7
=6
= B AB A2 B A3 B
4 0 0 0 0 5 rank( ) = 2
6= 4
0 0 0 0

In Matlab

6
x=6
4
2

6
B=6
4

Uncontrollable !!!

1
6
1 7
7 A=6
4
2 5
2
3
0
1 7
7
0 5
0

0
0
0
0

1
0
0
0

0
0
0
0

0
0 7
7
1 5
0

Need more control 66



x=4
2

x = Ax + Bu

6
B=6
4

1
6
1 7
7 A=6
4
2 5
2
3
0
1 7
7
0 5
0

0
0
0
0

1
0
0
0

0
0
0
0

0
0 7
7
1 5
0

Need more control 66



x=4
2

6
B=6
4

x = Ax + Bu Controllable ??

2
3
= B AB A B A B
8

1
1
2
2
0
1
0
0

0 1 0 0
7
6
7
7 A=6 0 0 0 0 7
5
4 0 0 0 1 5
0 0 0 0
3
0
0 7
7 Say we can control
0 5
1 and
2
1

In Matlab again J

6
x=6
4
2

6
B=6
4

Controllable !!!

1
1
2
2
0
1
0
0

0
7
6
7 A=6 0
5
4 0
0
3
0
0 7
7
0 5
1

1
0
0
0

0
0
0
0

0
0 7
7
1 5
0

State feedback

6
x=6
4
2

x = Ax + Bu Controllable

u = Kx

10

6
B=6
4

1
1
2
2
0
1
0
0

0
7
6
7 A=6 0
5
4 0
0
3
0
0 7
7
0 5
1

1
0
0
0

0
0
0
0

0
0 7
7
1 5
0

State feedback on a simpler system


x=

x = Ax

11

Unstable !!!

1
1



A=

0
0

1
0

State feedback on a simpler system


x=
B=

x = Ax + Bu Controllable ???

12

1
1

A=

0
1

Say we can control 1


0
0

1
0

State feedback on a simpler system


x=
B=

x = Ax + Bu Controllable !!!

u = Kx

13

1
1
0
1



A=

0
0

1
0

State feedback on a simpler system


x = Ax + Bu Controllable

u = Kx

x=

x = (A BK)x

0 1
0
x =
0 0
1

0
1
x =
x
k1
k2

B=

14

k1

k2

1
1
0
1



A=

0
0

1
0

State feedback on a simpler system


x =

0
k1

1
k2

A0

Characteristic polynomial:

det(A0
2

I)

x=
B=

1
1
0
1

+ k2 + k1

Pick your favorite 2 eigen values (LHP) :



1
1 =
( + 1)( + 2)
2
2 =
15



A=

0
0

1
0

State feedback on a simpler system


x =

0
k1

1
k2

A0

Characteristic polynomial:

det(A0
2

I)

x=
B=

1
1
0
1

+ k2 + k1

Pick your favorite 2 eigen values (LHP) :



1
1 =
2
k2 = 3
+3 +2
2
2 =
k1 = 2
16



A=

0
0

1
0

State feedback on a simpler system


x=
B=

17

x = Ax + Bu Stable !!!

u = Kx

K = k1 k2 = 2 3

1
1
0
1



A=

0
0

1
0

But we dont know our state



x=
B=

x = Ax + Bu
u = Kx

18

1
1
0
1

A=

0
0

1
0

Need to estimate our state



x=
B=

x = Ax + Bu
u = Kx

19

y = Cx

1
1

A=

0
1

C= 1 0
Say we can see 1

Observable ???

0
0

1
0

Need to estimate our state



x=
B=

y = Cx
x = Ax + Bu

C
1 0
=
=
CA
0 1
20

1
1
0
1

Observable ???

rank() = 2

A=
C=

0
0

1
0

Need to estimate our state



x=
B=

1
1
0
1

y = Cx Observable !!!

x = Ax + Bu
x
= A
x + Bu + L(y C x
)
e = x
21

x
= (A

LC)e

A=
C=

0
0

1
0

All together execution



x = Ax + Bu

y = Cx

x=

1
1

A=

0
0

1
0

Controllable and Observable



0
C= 1 0
K
L
B
=


1
=x
0
a) Wake up
t = t0 , x = x0 , x
b) Start Loop ( dt increments)

c) Read output
y = Cx
d) Compute control
u = K x

e) Send control
u

= A
x + Bu + L(y C x
)
using dynamics x
f) Update x
g) Repeat

x
k+1 = x
k + dt x

22

Check the forums, and good luck with Quiz 4!


23

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