russtedrake PRO
Roboticist at MIT and TRI
Output Feedback
MIT 6.832: Underactuated Robotics
Spring 2022, Lecture 23
Follow live at https://slides.com/d/x3BZTS0/live
(or later at https://slides.com/russtedrake/spring22-lec23)
Image credit: Boston Dynamics
Acrobot LQR w/ Kalman Estimator (from encoders)
True acrobot state
Estimator error \( (\hat{x} - x) \)
Lecture 23: Output feedback
By russtedrake
Lecture 23: Output feedback
MIT Underactuated Robotics Spring 2021 http://underactuated.csail.mit.edu
