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A_Matrix.m
Actuator_Model.m
Animate_System.m
B_Matrix.m
Controller.m
Create_Trajectory.m
Create_Video.m
Derive_EoM.m
Dot.m
Dynamics.m
Estimator.m
MAIN.m
PLOT_Estimator.m
PLOT_Inputs.m
PLOT_Map.m
PLOT_Stop_Action.m
README.md
README.txt
Select_Goal_Point.m
Sensors.m
Set_Gain_Matrix.m
Set_Parameters.m
Simulator.m
Trajectory_Examples.m

README.md

README for Q-Exam Tractor Trailer truck control problem

Problem Statement: Find a controller for a simple model of a tractor trailer truck that can drive backwards and forwards along a curving road. The number of sensors is less than the number of states, and the states are noisy.

Solution: Use an extended Kalman filter to produce a state estimate as the truck is driving. At each time use a discrete linear quadratic regulator to fidn the optimal gains for the linearized system (about the current configuration).


Run MAIN.M to get a simulation and plots.

Equations of motion are derived using the Matlab symbolic toolbox, and this derivation can be found in Derive_EoM.m

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