[meta] swing up of an inverted pendulum using NMPC

[pierfabre]

• Litterature review
  • What model of the system do people usually use? (input is Torque? if yes do they model the motor? #67
  • What library do they use? croccodyl?
  • what control frequency do they manage to obtain?
• In simulation
  • Implement an accurate simulation or improve the existing one if needed
  • implement an estimator (EKF) to have access to the velocities
  • system identification #68
  • implement NMPC
  • [ ]

[pierfabre]

Capture.video.du.04-02-2024.14.54.36.webm

[pierfabre]

Swing up trajectory computed offline with crocoddyl then tracked with PD controller

VID_20240204_171849_HSR_240.mp4

Nexts steps...

• Interpolate traj
• higher PD gains
• check measured pendulum angle vel and pos and compare to desired ones
• Catch the pendulum in the upright position with the PID controller
• Closed loop NMPC using croccodyl (can't wait)