Repository files navigation

You can read the task descriptionhere

You can read and download our reporthere

Choose two equilibria and define a step between these two configurations. Compute the optimal transition for the ball to move from one equilibrium to another exploiting the DDP algorithm.

See the results inthis jupyter notebook for a single step reference trajectory.Or download and run it!

See the results inthis jupyter notebook for a multiple steps reference trajectory.Or download and run it!

Define the reference (quasi) trajectory which the ball needs to follow exploitingthe DDP algorithm to compute the optimal trajectory

See the results inthis jupyter notebook for the DDP algorithm apllied on the quasi-static reference trajectory. Or download and run it!

See the results inthis jupyter notebook for the DDP algorithm apllied on the refined reference trajectory. Or download and run it!

Linearizing the system dynamics about the (optimal) trajectory (x, u) computed in Task 2, exploit the LQR algorithm to define the optimal feedback controller to track this reference trajectory.

See the results inthis jupyter notebook for the optimal trajectory tracking.Or download and run it!

See the results inthis jupyter notebook for the optimal trajectory tracking with affected by white noise.Or download and run it!

See the results inthis jupyter notebook for the tracking of the refined optimal trajectory.Or download and run it!

• Nicholas Baraghini
• Federico Iadarola
• Fabio Curto