search

Tenavi / benchmark_ocp

A collection of benchmark optimal feedback control problems
MIT License
0 stars 0 forks source link

Cart-pole swing up #31

Open Tenavi opened 11 months ago

Tenavi commented 11 months ago

See section 6 in https://epubs.siam.org/doi/epdf/10.1137/16M1062569

A possibly better reference is in the comments below

Tenavi commented 11 months ago

May require use of direct methods and enhancement of direct method toolbox (pylgr). Could be worth integrating the direct method toolbox into this one.

Tenavi commented 11 months ago

@frankhan91 : Qi wrote a paper that has an infinite horizon version of this problem. That might be easier to work with than the other reference.

See section IV in Practical stabilization through real-time optimal control.pdf