Closed bjack205 closed 2 years ago
Adds fix to TVLQR controller so that it stabilizes correctly at the end of the trajectory.
Both Xref and Uref inputs should have the same length (same as Q and R) and the last state/control pair should be set equal to the equilibrium state/control.
Xref
Uref
Q
R
LGTM
jeonghun-jj-lee
commented
2 years ago
Adds fix to TVLQR controller so that it stabilizes correctly at the end of the trajectory.
Both
XrefandUrefinputs should have the same length (same asQandR) and the last state/control pair should be set equal to the equilibrium state/control.