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PythonLinearNonlinearControl
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Shunichi09 2021-02-14 01:58:47 +09:00
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@ -53,7 +53,7 @@ Following algorithms are implemented in PythonLinearNonlinearControl
- [script](PythonLinearNonlinearControl/controllers/ddp.py) - [script](PythonLinearNonlinearControl/controllers/ddp.py)
- [Unconstrained Nonlinear Model Predictive Control (NMPC)](https://www.sciencedirect.com/science/article/pii/S0005109897000058) - [Unconstrained Nonlinear Model Predictive Control (NMPC)](https://www.sciencedirect.com/science/article/pii/S0005109897000058)
- Ref: Ohtsuka, T., & Fujii, H. A. (1997). Real-time optimization algorithm for nonlinear receding-horizon control. Automatica, 33(6), 1147-1154. - Ref: Ohtsuka, T., & Fujii, H. A. (1997). Real-time optimization algorithm for nonlinear receding-horizon control. Automatica, 33(6), 1147-1154.
- [script (Coming soon)]() - [script](PythonLinearNonlinearControl/controllers/nmpc.py)
- [Constrained Nonlinear Model Predictive Control -CGMRES- (NMPC-CGMRES)](https://www.sciencedirect.com/science/article/pii/S0005109897000058) - [Constrained Nonlinear Model Predictive Control -CGMRES- (NMPC-CGMRES)](https://www.sciencedirect.com/science/article/pii/S0005109897000058)
- Ref: Ohtsuka, T., & Fujii, H. A. (1997). Real-time optimization algorithm for nonlinear receding-horizon control. Automatica, 33(6), 1147-1154. - Ref: Ohtsuka, T., & Fujii, H. A. (1997). Real-time optimization algorithm for nonlinear receding-horizon control. Automatica, 33(6), 1147-1154.
- [script (Coming soon)]() - [script (Coming soon)]()
@ -185,6 +185,8 @@ save_plot_data(history_x, history_u, history_g=history_g)
animator = Animator(env) animator = Animator(env)
animator.draw(history_x, history_g) animator.draw(history_x, history_g)
``` ```
**It should be noted that the controller parameters like Q, R and Sf strongly affect the performence of the controller.
Please, check these parameters before you run the simulation.**
## Run Example Script ## Run Example Script