mannykayy / nmpc_casadi

NMPC-Project : Rest-to-Rest control of a 2-DoF Robot

Run different m-file for different tasks:

Open-loop Optimal Control

Task b)

• different sampling rates: plot_different_sampling_rate.m
• different integrators: plot_different_integrator.m

Task e)

• optimal end time OCP (fixe end-time problem): OCP_e_1.m
• compromising between minimal time and minimal control energy: OCP_e_2.m

Model Predictive Control

Task c)

• model error: plot_model_with_or_without_model_error_npmc_and_ocp.m

Task d)

• noise: plot_with_or_without_noise.m