NMPC Swing Up Controller based on Crocoddyl #86
+484
−38
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Closed
pierfabre
force-pushed
the
swing-up-nmpc-crocoddyl
branch
from
d74c4f9 to
9e86aef
Compare
pierfabre
force-pushed
the
swing-up-nmpc-crocoddyl
branch
from
2da0d66 to
8d063ae
Compare
pierfabre
force-pushed
the
swing-up-nmpc-crocoddyl
branch
from
32bc644 to
5134a7a
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
scripts/nmpc_swing_up.pyin which we solve the TO offline first and then try to swing up the pendulum in a MPC fashion using the new simulator better simulation #95+. This is already challenging because a lot of things are not in the model (friction, encoders resolution, control signal clamp, velocity filters, smaller integration step, ...)TODO