Added MPC and Linear MPC examples

utiasDSL / safe-control-gym

PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL

https://www.dynsyslab.org/safe-robot-learning/

MIT License

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Added MPC and Linear MPC examples #148

Closed adamhall closed 10 months ago

adamhall commented 10 months ago

As pet title. Also added a pytest for mpc and linear mpc. Gains could be better, especially for quad stabilization, but they all work reasonably well.

adamhall commented 10 months ago

Fixed Typos