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alla-eddine / trajectory_tracking

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Variable Names #1

Open jashmehta20 opened 2 years ago

jashmehta20 commented 2 years ago

Hello

alla-eddine commented 2 years ago

Hey, Those matrices are part of the MPC control method, which based on the linear tracking error. To understand more about them you need to read the following article paper: https://www.sciencedirect.com/science/article/abs/pii/S0921889007000140

alla-eddine commented 2 years ago

salam @jashmehta20 in the paper the author used a time varying predicted output model F(k)=[A(k|k) A(k+1|k)A(k|k) ... Λ(k,0)]T that can be work with any type of trajectory (circular, infinity, square, ...etc), in my code the turtlebot 3 is tracking a circular trajectory where the reference velocities are constant so no need to use his model, ( for simplicity i just used this model F << A0A0, A0A0A0, A0A0A0A0, A0A0A0A0A0;)
for the sconed question, it doesn't matter what variable name you use H or G you can name it as you like .

for more information : Kalancar the author of the article paper has published a book in 2017 titled " Wheeled-Mobile-Robotics-From-Fundamentals-Towards-Autonomous-Systems " which contains a very useful control method for wheeled mobile robot and he also provide with the book a full MATLAB code for every chapter ( I basically used his MATLAB code to program this ROS based package ) . you can find the book and the code in the following links :

book : https://www.sciencedirect.com/book/9780128042045/wheeled-mobile-robotics code : https://booksite.elsevier.com/9780128042045/manuscript.php (MPC MATLAB code are in chapter 3)