[meta] swing up of an inverted pendulum using NMPC

[pierfabre]

• [ ] Litterature review
  • [ ] #67
  • [ ] What library do they use? croccodyl?
  • [ ] what control frequency do they manage to obtain?
• [ ] In simulation
  • [ ] Implement an accurate simulation or improve the existing one if needed
  • [ ] implement an estimator (EKF) to have access to the velocities
  • [ ] #68
  • [ ] implement NMPC
  • [ ]

[pierfabre]

Capture vidéo du 04-02-2024 14:54:36.webm

[pierfabre]

Swing up trajectory computed offline with crocoddyl then tracked with PD controller

https://github.com/Armandpl/furuta/assets/73385720/4a25e02a-afed-4e1e-bc7c-891f94a3eb7e

Nexts steps...

• Interpolate traj
• higher PD gains
• check measured pendulum angle vel and pos and compare to desired ones
• Catch the pendulum in the upright position with the PID controller
• Closed loop NMPC using croccodyl (can't wait)