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by john_b
4078 days ago
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"Degrees of freedom" is an oversimplified way of putting it. What the parent seems to be getting at is that the rocket, when landing, has 10 state variables while only having 5 control inputs, two of which have a very limited effect (the nose thrusters). In this model, you don't count the rate of thrust changes as a separate input because your control system's job is to determine the required thrust at each instant. You also don't count thrust if you have already counted the main engine throttle (as has Animats). So the primary point of the parent comment, that the system is severely underactuated and thus difficult to solve, is correct. |
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