Objectives_template

Module 9 : Robot Dynamics & controls

Lecture 34 : Trajectory tracking control ( feed forward, computed torque and inverse dynamics approach)

	Objectives
	In this course you will learn the following
	Trajectory tracking control
	Trajectory Tracking using PD+Feedforward
	Trajectory Tracking
	Positive Definite Function (pdf)
	Locally Positive Definite Function (lpdf)
	Lyapunov's Notions of Stability
	Derivative along Trajectories
	Quadratic Functions
	Theorem