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Re: FRC971 Spartan Robotics 2016 Release Video
Quote:
Originally Posted by AustinSchuh
I defined a cost function to minimize the error between the trajectory every cycle and a feed-forward based goal (this made the goal feasabile), and used that to define a Kff.
The equation to minimize is:
(B * U - (R(n+1) - A R(n)))^T * Q * (B * U - (R(n+1) - A R(n)))
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I managed to solve for u assuming Q is symmetric and the trajectory is feasible. I got:
u = (B^T *Q*B)^-1 * (r(n+1)^T - r(n)^T * A^T)*Q*B
Is that correct?
Last edited by ranlevinstein : 16-06-2016 at 16:16.
Reason: Forgot to put transpose in the beginning of the expression.
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