Skip to content

Designed LQR and iLQR controllers for multiple non-linear systems describing scenarios such as cart-pole balancing, helicopter hovering, hopper stabilization, and trajectory following for helicopter flight.

Notifications You must be signed in to change notification settings

Badri-R-S/LQR_iLQR_DDP_Feedback-Linearization

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

2 Commits
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

Repository files navigation

Implementation of LQR, iLQR, DDP and Feedback Linearization techniques.

Part 1: Cartpole-Balancing

A non linear cartpole balancing system was provided. The objective was to balance the cartpole at a single point. Hence, the system was linearized about that single point. This linearized system was used to solve for the infinite horizon controller using LQR.

Alt text

Part 2: Helicopter Hover

A similar non linear helicopter hovering system was provided. The objective was to stabilize the hovering system. The infinite horizon controller was determined for the linearized system.

Alt text

Part 3: Hopper Stabilization

The objective was to stabilize and observe the hopper under different levels of perturbations for a set of points.

Alt text

Part 4: Trajectory following for a helicopter flight

Given a non-linear system, the objective was to trabsform the system into a LTV setting and run LQR. A reference trajectory was provided, that is approximately feasible.

Alt text

Alt text

Setup

Refer to requirements.txt to install all the necessary dependencies. To set up Anaconda environment, refer https://www.anaconda.com/ For Mujoco-py installation, refer https://github.com/openai/mujoco-py

About

Designed LQR and iLQR controllers for multiple non-linear systems describing scenarios such as cart-pole balancing, helicopter hovering, hopper stabilization, and trajectory following for helicopter flight.

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published
pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy