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Update: update reademe, add ddp

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Shunichi09 2020-04-05 15:50:30 +09:00
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@ -10,16 +10,17 @@ PythonLinearNonLinearControl is a library implementing the linear and nonlinear
# Algorithms # Algorithms
| Algorithm | Use Linear Model | Use Nonlinear Model | Need Gradient (Hamiltonian) | Need Gradient (Model) | | Algorithm | Use Linear Model | Use Nonlinear Model | Need Gradient (Hamiltonian) | Need Gradient (Model) | Need Hessian (Model) |
|:----------|:---------------: |:----------------:|:----------------:|:----------------:| |:----------|:---------------: |:----------------:|:----------------:|:----------------:|:----------------:|
| Linear Model Predictive Control (MPC) | ✓ | x | x | x | | Linear Model Predictive Control (MPC) | ✓ | x | x | x | x |
| Cross Entropy Method (CEM) | ✓ | ✓ | x | x | | Cross Entropy Method (CEM) | ✓ | ✓ | x | x | x |
| Model Preidictive Path Integral Control (MPPI) | ✓ | ✓ | x | x | | Model Preidictive Path Integral Control (MPPI) | ✓ | ✓ | x | x | x |
| Random Shooting Method (Random) | ✓ | ✓ | x | x | | Random Shooting Method (Random) | ✓ | ✓ | x | x | x |
| Iterative LQR (iLQR) | x | ✓ | x | ✓ | | Iterative LQR (iLQR) | x | ✓ | x | ✓ | x |
| Unconstrained Nonlinear Model Predictive Control (NMPC) | x | ✓ | ✓ | x | | Differential Dynamic Programming (DDP) | x | ✓ | x | ✓ | ✓ |
| Constrained Nonlinear Model Predictive Control CGMRES (NMPC-CGMRES) | x | ✓ | ✓ | x | | Unconstrained Nonlinear Model Predictive Control (NMPC) | x | ✓ | ✓ | x | x |
| Constrained Nonlinear Model Predictive Control Newton (NMPC-Newton) | x | ✓ | x | x | | Constrained Nonlinear Model Predictive Control CGMRES (NMPC-CGMRES) | x | ✓ | ✓ | x | x |
| Constrained Nonlinear Model Predictive Control Newton (NMPC-Newton) | x | ✓ | x | x | x |
"Need Gradient" means that you have to implement the gradient of the model or the gradient of hamiltonian. "Need Gradient" means that you have to implement the gradient of the model or the gradient of hamiltonian.
This library is also easily to extend for your own situations. This library is also easily to extend for your own situations.
@ -41,7 +42,7 @@ Following algorithms are implemented in PythonLinearNonlinearControl
- [Iterative LQR (iLQR)](https://ieeexplore.ieee.org/document/6386025) - [Iterative LQR (iLQR)](https://ieeexplore.ieee.org/document/6386025)
- Ref: Tassa, Y., Erez, T., & Todorov, E. (2012, October). Synthesis and stabilization of complex behaviors through online trajectory optimization. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4906-4913). IEEE. and [Study Wolf](https://github.com/studywolf/control), https://github.com/anassinator/ilqr - Ref: Tassa, Y., Erez, T., & Todorov, E. (2012, October). Synthesis and stabilization of complex behaviors through online trajectory optimization. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4906-4913). IEEE. and [Study Wolf](https://github.com/studywolf/control), https://github.com/anassinator/ilqr
- [script](PythonLinearNonlinearControl/controllers/ilqr.py) - [script](PythonLinearNonlinearControl/controllers/ilqr.py)
- [Dynamic Differential Programing (DDP)](https://ieeexplore.ieee.org/document/6386025) - [Dynamic Differential Programming (DDP)](https://ieeexplore.ieee.org/document/6386025)
- Ref: Tassa, Y., Erez, T., & Todorov, E. (2012, October). Synthesis and stabilization of complex behaviors through online trajectory optimization. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4906-4913). IEEE. and [Study Wolf](https://github.com/studywolf/control), https://github.com/anassinator/ilqr - Ref: Tassa, Y., Erez, T., & Todorov, E. (2012, October). Synthesis and stabilization of complex behaviors through online trajectory optimization. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4906-4913). IEEE. and [Study Wolf](https://github.com/studywolf/control), https://github.com/anassinator/ilqr
- [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)