前言: 笔者近日研读了MIT Cheetah 3 论文,对上层控制算法结构有了自己的理解。贴一张思维导图: 不码不工,真知无望。在理论学习后自然需要学习代码。知乎大神YY硕在2022年开源的工作A1-QP-MPC-Controller,依照…
git clone https://github.com/ShuoYangRobotics/A1-QP-MPC-Controller.gitcddocker/ sudo docker build -t a1_cpp_ctrl_image. Then we start docker by docker run -d \ --network host \ --cap-add=IPC_LOCK --cap-add=sys_nice \ -v PATH_OF_THE_REPO_ON_YOUR_HOST_COMPUTER:/root/A1_ctrl_...
Display the run-time |qp.status| value in the % Controller Status scope. mdl = 'mpc_onlinemonitoring'; open_system(mdl) Simulate the closed-loop response using the default Model Predictive Control Toolbox QP solver. Get open_system([mdl '/Controller Status']) open_system([mdl '/...
Open a Simulink model that simulates closed-loop control of the dc-servo motor using the MPC controller. By default, MPC uses a built-in QP solver that uses the KWIK algorithm. mdl ='mpc_customQPcodegen'; open_system(mdl) Run the simulation ...
git clone https://github.com/ShuoYangRobotics/A1-QP-MPC-Controller.gitcddocker/ sudo docker build -t a1_cpp_ctrl_image. Then we start docker by docker run -d \ --network host \ --cap-add=IPC_LOCK --cap-add=sys_nice \ -v PATH_OF_THE_REPO_ON_YOUR_HOST_COMPUTER:/root/A1_ctrl_...