nmpc_cgmres

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

Install

See here.

Technical details

See the following for a detailed algorithm.

• T Ohtsuka. Continuation/GMRES method for fast computation of nonlinear receding horizon control. Automatica, 2004.
• https://www.coronasha.co.jp/np/isbn/9784339033182/
• https://www.coronasha.co.jp/np/isbn/9784339032109/

The source code implementation is based on the following.

• https://www.maizuru-ct.ac.jp/control/kawata/iscie2/vol56_no6_09_ohtsuka.html

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