Eigen · SE(3) Data Structure
Nov 9, 2024
Some brief notes for quick reference. A light-wight $SE(3)$ data structure.
Weekend Breakaway
Nov 3, 2024
Taking a break from the busy mind, a short road trip to Xiayunling Mountains (霞云岭) on a beautiful Sunday afternoon, enjoying the nature near Beijing.
Model Predictive Control Via Quadratic Programming
Nov 2, 2024
Preface Model predictive control (MPC) is a popular control technique. It computes an optimal control input by taking into consideration the system dynamics from its current state to certain steps in the...
Numerical Integration Via Runge-Kutta
Oct 19, 2024
Preface Numerical methods are commonly employed in controls practice to integrate dynamical systems. For systems that can be modeled by ordinary differential equations (ODEs), the 4th order Runge-Kutta Method is known for...