How to tune cost weights matrix online?

leggedrobotics / ocs2

Optimal Control for Switched Systems

https://leggedrobotics.github.io/ocs2

BSD 3-Clause "New" or "Revised" License

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How to tune cost weights matrix online? #62

Open skywoodsz opened 1 year ago

skywoodsz commented 1 year ago

Hi, this is an amazing project. I want to deploy this project to our robot, and need to tune the matrix Q,R when mpc is running. However, I don't know how to solve this problem. Could you give me some advices? Thanks!