2025
Lectures will be streamed live on Zoom, through the link available from Piazza and Canvas. After the lecture, the recording and all related materials will be made available here.
| Lecture |
Topics |
Materials |
| 1 |
Introduction and Dynamics |
video, slides |
2024
| 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
2024 recitation Youtube playlist
Github Repo