Control System Design

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Coordinate System

Here's an old illustration:

This is not entirely accurate any more. Currently-

  • x is forward
  • y is left
  • z is up
  • psi is heading - 0 is due east, and it increases according to right hand rule around z axis
  • phi is roll angle - right hand rule around x axis
  • theta is pitch angle - right hand rule around y axis


Path Following Research

Calculate Heading


Control System