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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
| Algorithm | Use Linear Model | Use Nonlinear Model | Need Gradient (Hamiltonian) | Need Gradient (Model) |
|:----------|:---------------: |:----------------:|:----------------:|:----------------:|
| Linear Model Predictive Control (MPC) | ✓ | x | x | x |
| Cross Entropy Method (CEM) | ✓ | ✓ | x | x |
| Model Preidictive Path Integral Control (MPPI) | ✓ | ✓ | x | x |
| Random Shooting Method (Random) | ✓ | ✓ | x | x |
| Iterative LQR (iLQR) | x | ✓ | x | ✓ |
| Unconstrained Nonlinear Model Predictive Control (NMPC) | x | ✓ | ✓ | x |
| Constrained Nonlinear Model Predictive Control CGMRES (NMPC-CGMRES) | x | ✓ | ✓ | x |
| Constrained Nonlinear Model Predictive Control Newton (NMPC-Newton) | x | ✓ | x | x |
| Algorithm | Use Linear Model | Use Nonlinear Model | Need Gradient (Hamiltonian) | Need Gradient (Model) | Need Hessian (Model) |
|:----------|:---------------: |:----------------:|:----------------:|:----------------:|:----------------:|
| Linear Model Predictive Control (MPC) | ✓ | x | x | x | x |
| Cross Entropy Method (CEM) | ✓ | ✓ | x | x | x |
| Model Preidictive Path Integral Control (MPPI) | ✓ | ✓ | x | x | x |
| Random Shooting Method (Random) | ✓ | ✓ | x | x | x |
| Iterative LQR (iLQR) | x | ✓ | x | ✓ | x |
| Differential Dynamic Programming (DDP) | x | ✓ | x | ✓ | ✓ |
| Unconstrained Nonlinear Model Predictive Control (NMPC) | 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.
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)
- 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)
- [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
- [script](PythonLinearNonlinearControl/controllers/ddp.py)
- [Unconstrained Nonlinear Model Predictive Control (NMPC)](https://www.sciencedirect.com/science/article/pii/S0005109897000058)