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This is a pre-requisite to modifying PARL to do tracking control. I want to verify that, with an appropriate reward function and a single reference point, PARL recovers LQR functionality.
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Use LQR as inner loop controller for checking LQR module after Quadrotor environment's made
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Apollo 5.5
Q1. Apollo 5.5 introduce MRAC(model reference adaptive control) together with LQR control for steering control (lateral control), what is the advantage of using MARC with LQR instead of …
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In GitLab by @podhrmic on Aug 13, 2020, 14:41
aka *Controls Regression Tests*, *Baseline controller test*, *Control System Fuzzer*
# Assumptions
I am assuming that the user of our tool will use vari…
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Hi,
I was wondering if you just post the attitude message through the AttitudeTarget in mavros, the PID control of the inner loop in PX4 still working.
How can you ensure that LQR works in this scen…
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I have been trying to use the FHDTLQR for trajectory tracking but I was not able to find any examples or tutorials on that. Is there any material available? Also, would there be a way of using box con…
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Hi,
I am new to Apollo and have several questions about the dynamic models used in the LQR controller. It origins from that I find the lines in lat_controller.cc are different from what is said in th…
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We need to replace our current controller. Our current controller is a PID based controller. The new controller should be able to take the current ego vehicle trajectory and provide the appropriate co…
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The odometry updates are working after the use of wheel joint delta angles to update the joint positions in the hardware interface (see the [code here](https://github.com/fjp/diffbot/blob/f921e6b3ad07…
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In the WPILib docs, I saw at the end of the section that there is a `DifferentialDriveStateEstimator` class that from my interpretation uses the drivetrain feedforward model as a state estimation to f…