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When running `lqr = LinearQuadraticRegulator(quadrotor_diagram, context, Q, R)` to setup the LQR controller, I got the error "RuntimeError: InputPort::Eval(): required InputPort[0] (prop_command) of S…
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Summary: 14 packages finished [26.6s]
1 package failed: carla_l5player_aeb_with_python_script
11 packages aborted: carla_ackermann_msgs carla_l5player_lqr_pid_controller carla_l5player_lqr_pid_c…
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The current controller design doesn't allow the user to get the intermediate trajectory optimization for a chosen optimizer in a controller (LQR, iLQR, MPPI, etc.) after running the controller. I sugg…
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- [x] implement a traj following task in the pybullet sim #17
- [ ] implement a classical controller (pakpong?) to solve it
- [x] LQR controller #22
- [ ] implement the thrust/strokedev MPC contr…
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Make it good
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I use PID+LQR controller to control the vehicle.
when i set mrac_model_order to 1, there seems no use for steer_angle,the value of steer_angle are the same before and after calling mrac_controller_.C…
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Try using the principals used in LQI (LQR + Integrator) to add integral gains to the MPC controller.
Could also try moving attitude control (roll/pitch) from PIDs to the MPC controller once this is…
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Is there any reference to get a clear idea of how the control commands flow in a control architecture ? Also the explanation on how the flow occurs between different controllers, MRAC, MPC and LQR an…
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Make the Following controllers for all the examples:
1. Optimal Control (LQR, iLQR, DDP)
2. Predictive Control (different variations of MPC)
3. Reinforcement Learning Based Controllers (Linear as w…
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Implement an LQG rate controller, based on a state estimate of the torques and optimal control parameters.
- [ ] Separately merge improvements to the system identification into the main code
- [X] Use…