From 9b671f92c36d382ca9d45b678477c3f8dfc2855d Mon Sep 17 00:00:00 2001 From: Richard Murray Date: Fri, 19 Mar 2021 19:39:38 -0700 Subject: [PATCH 1/2] fix broken links to murray.cds.caltech.edu --- examples/pvtol-lqr-nested.ipynb | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/examples/pvtol-lqr-nested.ipynb b/examples/pvtol-lqr-nested.ipynb index ceb6424c0..59e97472a 100644 --- a/examples/pvtol-lqr-nested.ipynb +++ b/examples/pvtol-lqr-nested.ipynb @@ -20,9 +20,9 @@ "## System Description\n", "This example uses a simplified model for a (planar) vertical takeoff and landing aircraft (PVTOL), as shown below:\n", "\n", - "![PVTOL diagram](http://www.cds.caltech.edu/~murray/wiki/images/7/7d/Pvtol-diagram.png)\n", + "![PVTOL diagram](https://murray.cds.caltech.edu/images/murray.cds/7/7d/Pvtol-diagram.png)\n", "\n", - "![PVTOL dynamics](http://www.cds.caltech.edu/~murray/wiki/images/b/b7/Pvtol-dynamics.png)\n", + "![PVTOL dynamics](https://murray.cds.caltech.edu/images/murray.cds/b/b7/Pvtol-dynamics.png)\n", "\n", "The position and orientation of the center of mass of the aircraft is denoted by $(x,y,\\theta)$, $m$ is the mass of the vehicle, $J$ the moment of inertia, $g$ the gravitational constant and $c$ the damping coefficient. The forces generated by the main downward thruster and the maneuvering thrusters are modeled as a pair of forces $F_1$ and $F_2$ acting at a distance $r$ below the aircraft (determined by the geometry of the thrusters).\n", "\n", @@ -307,11 +307,10 @@ "\n", "To design a controller for the lateral dynamics of the vectored thrust aircraft, we make use of a \"inner/outer\" loop design methodology. We begin by representing the dynamics using the block diagram\n", "\n", - "

\n", - "where\n", - "

\n", + "

\n", + "\n", "The controller is constructed by splitting the process dynamics and controller into two components: an inner loop consisting of the roll dynamics $P_i$ and control $C_i$ and an outer loop consisting of the lateral position dynamics $P_o$ and controller $C_o$.\n", - "

\n", + "

\n", "The closed inner loop dynamics $H_i$ control the roll angle of the aircraft using the vectored thrust while the outer loop controller $C_o$ commands the roll angle to regulate the lateral position.\n", "\n", "The following code imports the libraries that are required and defines the dynamics:" @@ -547,7 +546,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.7.9" + "version": "3.9.1" } }, "nbformat": 4, From 2782228a6f70b5e9dafb4b65c18a911af5e46aba Mon Sep 17 00:00:00 2001 From: Richard Murray Date: Fri, 19 Mar 2021 21:21:54 -0700 Subject: [PATCH 2/2] TRV: sphinx documentation typo --- doc/optimal.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/optimal.rst b/doc/optimal.rst index 38bfca0db..9538c28c2 100644 --- a/doc/optimal.rst +++ b/doc/optimal.rst @@ -66,7 +66,7 @@ intended to hold at all instants in time along the trajectory. A common use of optimization-based control techniques is the implementation of model predictive control (also called receding horizon control). In -model predict control, a finite horizon optimal control problem is solved, +model predictive control, a finite horizon optimal control problem is solved, generating open-loop state and control trajectories. The resulting control trajectory is applied to the system for a fraction of the horizon length. This process is then repeated, resulting in a sampled data feedback pFad - Phonifier reborn

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