PythonRobotics机器人算法库-倒立摆控制

说明：

• 介绍如何倒立摆控制

• 参考代码

步骤：

• 小车上的倒立摆由质量块组成m在一根长度的杆的顶部l如旁边所示，在水平移动的底座上旋转

• 控制系统的目的是通过向连接摆锤的小车施加力来平衡倒立摆锤

模型

M：购物车的质量
m：杆顶部的负载质量
l：杆的长度
u: 作用在小车上的力
x: 购物车位置坐标
θ：与垂直方向的摆角

LQR控制

MPC控制

• 进入目录PythonRobotics/Control/inverted_pendulum

• 执行文件

python3 inverted_pendulum_lqr_control.py

python3 inverted_pendulum_mpc_control.py

• 结果如下：

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