2024
Lectures will be streamed live on Zoom, with the link from Canvas. After the lecture, the recording and all related materials will be made avaiable here.
Lecture |
Topics |
Materials |
1 |
Introduction and Dynamics |
video, slides |
2 |
Dynamics Discretization & Stability |
video, slides |
Optimization |
|
|
3 |
Optimization Pt. 1 |
video, slides |
4 |
Optimization Pt. 2 |
video, slides |
5 |
Optimization Pt. 3 |
video, slides |
Optimal Control |
|
|
6 |
Deterministic Optimal Control Intro |
video, slides |
7 |
The Linear Quadratic Regulator Three Ways |
video, slides |
8 |
Controllability and Dynamic Programming |
video, slides |
9 |
Convex Model-Predictive Control |
video, slides |
10 |
Nonlinear Trajectory Optimization |
video, slides |
11 |
Differential Dynamic Programming |
video, slides |
12 |
Direct Trajectory Optimization |
video, slides |
Rotations |
|
|
13 |
Dealing with 3D Rotations |
video, slides |
14 |
Optimizing Rotations |
video, slides |
15 |
LQR with Quaternions and Quadrotors (2023 lecture) |
video, slides, code |
Special Topics |
|
|
16 |
Hybrid Systems and Legged Robots (2023 lecture) |
video, slides, code |
17 |
Iterative Learning Control |
video, slides, code |
18 |
Stochastic Optimal Control and LQG |
video, slides, code |
19 |
Kalman Filters and Duality |
video, slides, code |
20 |
Convex Relaxation and Landing Rockets |
video, slides, code |
21 |
Legged Robots and How to Walk with QPs |
video, slides, code |
22 |
Autonomous Driving |
video, slides, code |
23 |
Calculus of Variations and Physics as Optimal Control |
video, slides, code |
2023
Lecture |
Topics |
Materials |
1 |
Introduction and Dynamics |
video, slides, code |
2 |
Dynamics Discretization & Stability |
video, slides, code |
Optimization |
|
|
3 |
Optimization Pt. 1 |
video, slides, code |
4 |
Optimization Pt. 2 |
video, slides, code |
5 |
Optimization pt. 3 |
video, slides, code |
Optimal Control |
|
|
6 |
Deterministic Optimal Control Intro |
video, slides, code |
7 |
The Linear Quadratic Regulator Three Ways |
video, slides, code |
8 |
Controllability and Dynamic Programming |
video, slides, code |
9 |
Convex Model-Predictive Control |
video, slides, code |
10 |
Nonlinear Trajectory Optimization |
video, slides, code |
11 |
Differential Dynamic Programming |
video, slides, code |
12 |
Direct Trajectory Optimization |
video, slides, code |
Rotations |
|
|
13 |
Dealing with 3D Rotations |
video, slides, code |
14 |
Optimizing Rotations |
video, slides, code |
15 |
LQR with Quaternions and Quadrotors |
video, slides, code |
Special Topics |
|
|
16 |
Hybrid Systems and Legged Robots |
video, slides, code |
17 |
Iterative Learning Control |
video, slides, code |
18 |
Stochastic Optimal Control and LQG |
video, slides, code |
19 |
Kalman Filters and Duality |
video, slides, code |
20 |
Robust Control and Minimax Optimization |
video, slides, code |
21 |
Convex Relaxation and Landing Rockets |
video, slides, code |
22 |
Legged Robots and How to Walk with QPs |
video, slides, code |
23 |
Autonomous Driving and Game Theory |
video, slides, code |
24 |
Reinforcement Learning |
video, slides, code |
Useful Links
Youtube recitation playlist
Github Repo