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Transfer LQR controller to PPO
variants:
1. make PPO policy a linear model and directly copy LQR law into the policy
1. make behavioural cloning of the LQR into a "standard NN"
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z.B. LQR, Pure Pursuit Regler, Model Predictive and Steering Control
https://github.com/AtsushiSakai/PythonRobotics
ttps://github.com/RobeSafe-UAH/Waypoint_Tracking_Controller
DoD: Empfehlung f…
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This came up while pytestifying statefbk_test.py (#438)
`lqr()` will always return `E` as `(nstates, ) array`
https://github.com/python-control/python-control/blob/d3142ff24c7af5e2c0843fd16d0e1be8…
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Sensor delay will be a very common issue (especially with the abundance of smart motor controllers) and LQR might generate aggressive controller gains if not taken care of, resulting in excessive osci…
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Hello,
I was curious if you have any example code to apply the controller in gazebo quadrotor model? I see you mentioned testing it in gazebo.
Thanks
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Hi,
I was just checking out the tool when I noticed two new constants: kG and kCos. I was wondering if these are the voltage to angular velocity/acceleration constants meant to be passed into `iden…
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Hey man, I came across the need to have a route planner, because I have several intersection points drawn on the map, but none of these points has an optimized route, is there something already implem…
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Hi,
For the lqr steer control are you using a kinematic model of the bicycle model or the dynamic model ? and do you have any reference of how the state space model is derived (A and B matrices)…
jadhm updated
3 years ago
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MPC is the defacto standard these days. While DWB is closely related, it is not as extensive and configurable based on model types and base characteristics.
Something to spend some real time thinki…
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Copter modes GUIDED and GUIDED_NOGPS currently convert the setpoint thrust in the Mavlink [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) message to a climb rat…