Unicycle/Ackerman steering (moving closer to the Roomba)

buntonj / polynomial_observers

Polynomial observers: a Savitzky-Golay filter for estimating the derivatives of an output signal, then using it to estimate the state of a nonlinear dynamical system.

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Unicycle/Ackerman steering (moving closer to the Roomba) #19

Closed buntonj closed 1 year ago

buntonj commented 1 year ago

Added dynamics. Need to do:

[x] verify p-dimensional outputs support (should be okay)
[x] hand compute the output derivatives
[x] assign or develop a method for input derivative computation

buntonj commented 1 year ago

Implemented. Need to make a cool video