Using FHDTLQR for trajectory tracking

ethz-adrl / control-toolbox

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

BSD 2-Clause "Simplified" License

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Using FHDTLQR for trajectory tracking #181

Closed rokasgie closed 3 years ago

rokasgie commented 3 years ago

I have been trying to use the FHDTLQR for trajectory tracking but I was not able to find any examples or tutorials on that. Is there any material available? Also, would there be a way of using box constraints in such a problem?

markusgft commented 3 years ago

Dear @rokasgie Thanks for your interest in this toolbox. No, unfortunately we currently do not have a unit test or example for the finite horizon time-varying LQR. There is an example for the infinite horizon LQR controller, see ct_optcon/examples/LQR.cpp The use of the time-varying version would be similar, you only have to provide trajectories of states, controls, and A & B matrices to the designController() method. Best!