Lecture 6 - Learning how to modulate a Dynamical Systems

Abstract

This lecture presents how one can learn to modulate an initial (nominal) dynamical system (DS) to generate new dynamics. We consider modulations that act locally to preserve the generic properties of the nominal DS (e.g., asymptotic or global stability). We further show how such modulations can be made explicitly dependent on an external input and illustrate the usefulness of such a concept with a few examples where the speed is modulated to enter in contact with a surface.

Lecture Video

Slides

Click here to download a pdf version of the ppt presentation.

Exercises Instructions

Click here to download a pdf of the instructions for the exercises.

Code for MATLAB Exercises

The recommended way to do the MATLAB exercises is to download the entire repository once, then go to each lecture's folder. Detailled instructions for installation can be found on the Software page.

Click here to download the corresponding exercise for this lecture as a zip file.
Note you will also need this libraries folder placed with the correct directory structure.

First Theoretical Exercise Solution

Click here to download a pdf of the solution of the first handwritten exercise.

Robotic Implementation