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jrl-umi3218 / lipm_walking_controller

Walking controller based on linear inverted pendulum tracking
BSD 2-Clause "Simplified" License
18 stars 11 forks source link

closed-loop MPC #40

Open Saeed-Mansouri opened 2 years ago

Saeed-Mansouri commented 2 years ago

Hi @stephane-caron,

You have implemented an open-loop MPC to generate the desired com trajectory and a DCM-feedback controller (PID) to make the ZMP command for tracking the desired DCM. Why didn't you implement a closed-loop MPC to directly generate the ZMP command? I'd like to know if there are any issues or challenges to having a closed-loop MPC (instead of having an open-loop MPC + DCM feedback controller).

stephane-caron commented 2 years ago

Yes, both approaches have their pros and cons. I've drafted definitions and pointers to the works I know in the following post: Open loop and closed loop model predictive control. Don't hesitate to join the discussion if you find some other works or have some robot experience to share.