This assignment deals with racing a planar cart pole on a 10 m track in MATLAB while maintaining balance.
------ Goals: ------ 1) Move the cart from 0 m to 10 m as fast as possible 2) The cart must come to rest within 12 m, and the pole must balance around its unstable equilibrium (zero angle w.r.t. gravity) 3) The pole must never fall down (both during the motion and in the future) ------------------------ What is expected of you? ------------------------ 1) Find a desired trajectory for the cart in order for it to move from 0 m to 10 m and come to rest within 12 m 2) Find a desired trajectory for the pole in order to achieve this motion. Discuss whether the desired trajectory for the pole should be zero for all time or should it vary with time? 3) Find the PD control gains that will successfully track the desired motion ------------------------------------------------ What do we provide? ------------------------------------------------ 1) Planar cart pole model with viscous friction and input saturation, i.e., limits on the force that can be applied to the cart (statespace_planarCartPole.m) 2) An example MATLAB script that simulates the planar cart pole model and stabilizes it using a controller (simulate_planarCartPole.m) ---------------- What to turn in? ---------------- 1) Your MATLAB script that simulates the following: a. Your desired trajectory for the cart and the pole (Edit getDesiredTrajectory_planarCartPole.m) b. Your PD controller for tracking the above desired motion (Edit simulate_planarCartPole.m) 2) A write-up describing your approach, the reasons for taking your approach, the intuition gained and your fastest race time. 3) A video of the cart pole visualization of your fastest motion (Using visualize_planarCartPole.m as shown in simulate_planarCartPole.m) -------------- Any questions? -------------- Email: umashankar@cmu.edu, umashankar@disneyresearch.com