Remove Ramsete controller section

calcmogul · Jul 10, 2024 · 967e90b · 967e90b
1 parent 62e874e
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diff --git a/controls-engineering-in-frc.bib b/controls-engineering-in-frc.bib
@@ -21,13 +21,6 @@ @online{bib:banana_distribution
   year = {2008}
 }
 
-@online{bib:ctrl_wheeled_mobile_robots,
-  author = {Luca and Oriolo and Vendittelli},
-  title = {Control of Wheeled Mobile Robots: An Experimental Overview},
-  url = {https://web.archive.org/web/20240709180729/https://www.diag.uniroma1.it/~labrob/pub/papers/RAMSETE_Chap_LNCIS270.pdf},
-  urldate = {2024-07-10}
-}
-
 @online{bib:first-hand_the_ut,
   author = {Jeffrey Uhlmann},
   title = {First-Hand:The Unscented Transform},

diff --git a/modern-control-theory/nonlinear-control.tex b/modern-control-theory/nonlinear-control.tex
@@ -15,6 +15,5 @@ \chapter{Nonlinear control}
 \input{\chapterpath/pendulum}
 \input{\chapterpath/holonomic-drivetrains}
 \input{\chapterpath/differential-drive}
-\input{\chapterpath/ramsete-unicycle-controller}
 \input{\chapterpath/ltv-unicycle-controller}
 \input{\chapterpath/further-reading}
diff --git a/modern-control-theory/nonlinear-control/ltv-unicycle-controller.tex b/modern-control-theory/nonlinear-control/ltv-unicycle-controller.tex
@@ -1,8 +1,9 @@
 \section{Linear time-varying unicycle controller}
 
 One can also create a linear time-varying controller with a cascaded control
-architecture like Ramsete. This section will derive a locally optimal
-replacement for Ramsete.
+architecture, where the outer layer consumes a pose command and produces
+unicycle velocity commands, and the inner layer consumes unicycle velocity
+commands and produces wheel motor voltages.
 
 The change in global pose for a unicycle is defined by the following three
 equations.

diff --git a/modern-control-theory/nonlinear-control/ramsete-unicycle-controller.tex b/modern-control-theory/nonlinear-control/ramsete-unicycle-controller.tex