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I have several questions about MRAC controler?
1.How to set 'mrac_model_order' value? according to what to decide the system order.
2.If you set the above value to one,and why still use Wn and ξ(may…
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Actually, there must be time delay between sending command and the Vehicle execute command, is there any compensation about this?
Now, the vehicle has a big delay like following. So there is vibrati…
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Is it possible to do controller (PID or LQR or MPC) tuning offline using record bag and Apollo dream view?
If possible then how to do it?
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If we know the sensor delay, we can use equation (11) from https://www.textroad.com/pdf/JBASR/J.%20Basic.%20Appl.%20Sci.%20Res.,%202(3)2607-2618,%202012.pdf to correct the controller gain to compensat…
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FYI For the new APIs, see [`MultibodyPlant` documentation](https://drake.mit.edu/doxygen_cxx/classdrake_1_1multibody_1_1_multibody_plant.html).
If you have questions or need help converting to `Mul…
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## Description
`SceneGraph` currently has a single abstract state value. That value is an aggregate blob of data including the description of the scene graph and the various implementations of that…
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Dear Sir,
In Apollo MPC control code, steer feedforward_compensation seems to be calculated according to unconstrained_control and lqr feedforward value, but why unconstrained_control is calculat…
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1. How to tune MPC control (matrix_q:) to get a smooth response of steer, throttle, brake.
The issue is heading error is high, so the car move in zigzag motion. (steer is not straight, zigzag motion…
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Let's find some nice papers on OC used to plan trajectories for biped and quadruped robots.