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[AMR] Add feedback loops

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janishutz
2026-08-09 11:02:31 +02:00
parent a8b3bd7b20
commit 06df67934c
11 changed files with 16 additions and 2 deletions
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electives/amr/parts/01_kinematics/03_temporal-models.tex
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@@ -5,7 +5,7 @@
Model \bi{robot dyn} as \bi{Cont-time non-lin. system of ODE}:\\
$\dot{\vec{x}} = \vec{f}_C(\vec{x}(t), \vec{u}(t), \vec{w}(t))$, measurement $\vec{z}(t) = \vec{h}(\vec{x}(t)) + \vec{v}(t)$.
With: $\pardiff{t}\vec{x}(t) = f_C(\vec{x}(t), \vec{u}(t))$ the model for the robot state update and $\vec{h}(\vec{x}(t))$ the model for the measurements (e.g. for IMU)
With: $\pardiff{t}\vec{x}(t) = \vec{f}_C(\vec{x}(t), \vec{u}(t))$ the model for the robot state update and $\vec{h}(\vec{x}(t))$ the model for the measurements (e.g. for IMU)
\vspace{0.5mm}
\hrule