Closed bjack205 closed 2 years ago
Adds an example of using linear MPC on the cartpole to track an ALTRO swing-up trajectory, with a large initial offset. TVLQR doesn't seem to work at all with an initial offset in the state, at least for the cartpole.
examples/cartpole_mpc.jl
Adds an example of using linear MPC on the cartpole to track an ALTRO swing-up trajectory, with a large initial offset. TVLQR doesn't seem to work at all with an initial offset in the state, at least for the cartpole.
Main contribution
examples/cartpole_mpc.jl