Control Algorithms, step 4
Model predictive control
Plan the next 0.4 s with the motor's limit built in, apply the first push, and plan again: the cart moves 15 cm with a 0.8 N motor where LQR crashes.
Receding horizonCondensed QPProjected gradient
Control Algorithms, step 4
Plan the next 0.4 s with the motor's limit built in, apply the first push, and plan again: the cart moves 15 cm with a 0.8 N motor where LQR crashes.