Solutions are available for selected problems below. The solutions and selected MATLAB® files are courtesy of Rick E. Cory and John W. Roberts, and are used with permission.

ASSN # | TOPICS | PROBLEM SETS | SOLUTIONS |
---|---|---|---|

1 |
Definition of underactuated The simple pendulum Optimal control of the double integrator |
(PDF) calc_basin.m (M) brick_control.m (M) |
(PDF) |

2 |
Value iteration on the double integrator Pontryagin minimum principle Swing-up and balance for the cart-pole system |
(PDF) brick_vi.m (M) cartpole.m (M) |
Problem 1: brick_vi_sol.m (M) Problem 2 (PDF) The solution to Problem 3 is unavailable. |

3 |
Optimal swing-up for the simple pendulum Single-pump swing-up for the cart-pole The rimless wheel |
(PDF) pend_snopt.m (M) pendfun.m (M) |
The solutions to Problems 1 and 2 are unavailable. Problem 3: rimlessWheel.m (M) |

4 |
The spring loaded inverted pendulum Motion planning with rapidly-exploring random trees |
(PDF) slip.m (M) |
The solutions are unavailable. |

5 |
The weight-perturbation algorithm Temporal difference learning |
(PDF) cartpole_wp.m (M) markov_td.m (M) |
The solutions are unavailable. |