Added controllers based on control lyapunov functions
- refactor state space models to return function info as dictionaries - move riccati solver to misc - add derivative calculation to empirical drag model - add min norm controller for relative degree 1 control (accel -> v) - add min norm controller for relative degree 2 control (accel -> pos) - add documentation for the min norm controllers
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- controls/control_affine_clf.py 188 additions, 0 deletionscontrols/control_affine_clf.py
- controls/sdre.py 2 additions, 20 deletionscontrols/sdre.py
- controls/stepping.py 4 additions, 6 deletionscontrols/stepping.py
- controls/time_based.py 5 additions, 4 deletionscontrols/time_based.py
- examples/display_control_affine_clf.py 77 additions, 0 deletionsexamples/display_control_affine_clf.py
- misc/riccati.py 21 additions, 0 deletionsmisc/riccati.py
- state_space_models/empirical_drag.py 26 additions, 14 deletionsstate_space_models/empirical_drag.py
- state_space_models/simple_planar_integrator.py 21 additions, 36 deletionsstate_space_models/simple_planar_integrator.py
- vis/vis_mounted_thruster_model.py 1 addition, 1 deletionvis/vis_mounted_thruster_model.py
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