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6de5cd7 · Dec 22, 2022

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nmpc_cgmres

nmpc_cgmres

Non-linear model predictive control (NMPC) with continuation/GMRES method (C/GMRES)

CI-standalone CI-catkin Documentation

Install

See here.

Technical details

See the following for a detailed algorithm.

The source code implementation is based on the following.

Examples

Make sure that it is built with --catkin-make-args tests option.

Semiactive damper

$ rosrun nmpc_cgmres TestCgmresSolver --gtest_filter=*SemiactiveDamperProblem
$ rosrun nmpc_cgmres plotCgmresData.py

TestSemiactiveDamperProblem

Cart-pole

$ rosrun nmpc_cgmres TestCgmresSolver --gtest_filter=*CartPoleProblem
$ rosrun nmpc_cgmres plotCgmresData.py

TestCartPoleProblem