double_pendulum.controller.trajectory_following

Submodules

double_pendulum.controller.trajectory_following.feed_forward

class double_pendulum.controller.trajectory_following.feed_forward.FeedForwardController(T, U, torque_limit=[1.0, 1.0], num_break=40)

Bases: AbstractController

FeedforwardController Controller which executes a feedforward torque trajectory

Parameters:

Tarray_like

shape=(N,) time points of reference trajectory, unit=[s] (Default value=None)

Uarray_like

shape=(N, 2) reference trajectory actuations/motor torques order=[u1, u2], units=[Nm] (Default value=None)

torque_limitarray_like, optional

shape=(2,), dtype=float, default=[1.0, 1.0] torque limit of the motors [tl1, tl2], units=[Nm, Nm]

num_breakint

number of break points used for interpolation (Default value = 40)

get_control_output_(x, t)

The function to compute the control input for the double pendulum’s actuator(s).

Parameters:

xarray_like, shape=(4,), dtype=float,

state of the double pendulum, order=[angle1, angle2, velocity1, velocity2], units=[rad, rad, rad/s, rad/s]

tfloat, optional

time, unit=[s] (Default value=None)

Returns:

array_like

shape=(2,), dtype=float actuation input/motor torque, order=[u1, u2], units=[Nm]

save_(save_dir)

Save controller parameters

Parameters:

save_dirstring or path object

directory where the parameters will be saved

double_pendulum.controller.trajectory_following.trajectory_controller

class double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryController(csv_path, torque_limit=[0.0, 1.0], kK_stabilization=False)

Bases: AbstractController

Controllers which executes a feedforward torque trajectory and optionally stabilizes the trajectory with linear feedback.

Parameters:

csv_pathstring or path object

path to csv file where the trajectory is stored. csv file should use standarf formatting used in this repo. If T, X, or U are provided they are preferred.

torque_limitarray_like, optional

shape=(2,), dtype=float, default=[0.0, 1.0] torque limit of the motors [tl1, tl2], units=[Nm, Nm]

kK_stabilizationbool

Whether to stabilize the trajectory with linear feedback gains (K matrix and additive k vector) (Default value=False)

get_control_output_(x, t)

The function to compute the control input for the double pendulum’s actuator(s).

Parameters:

xarray_like, shape=(4,), dtype=float,

state of the double pendulum, order=[angle1, angle2, velocity1, velocity2], units=[rad, rad, rad/s, rad/s]

tfloat, optional

time, unit=[s] (Default value=None)

Returns:

array_like

shape=(2,), dtype=float actuation input/motor torque, order=[u1, u2], units=[Nm]

get_init_trajectory()

Get the initial (reference) trajectory used by the controller.

Returns:

numpy_array

time points, unit=[s] shape=(N,)

numpy_array

shape=(N, 4) states, units=[rad, rad, rad/s, rad/s] order=[angle1, angle2, velocity1, velocity2]

numpy_array

shape=(N, 2) actuations/motor torques order=[u1, u2], units=[Nm]

class double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryInterpController(csv_path, torque_limit=[0.0, 1.0], kK_stabilization=False, num_break=40)

Bases: AbstractController

TrajectoryController Controllers which executes a feedforward torque trajectory and optionally stabilizes the trajectory with linear feedback. The trajectory can be interpolated with polynomials.

Parameters:

csv_pathstring or path object

path to csv file where the trajectory is stored. csv file should use standarf formatting used in this repo. If T, X, or U are provided they are preferred.

torque_limitarray_like, optional

shape=(2,), dtype=float, default=[0.0, 1.0] torque limit of the motors [tl1, tl2], units=[Nm, Nm]

kK_stabilizationbool

Whether to stabilize the trajectory with linear feedback gains (K matrix and additive k vector) (Default value=False)

num_breakint

number of break points used for interpolation (Default value = 40)

get_control_output_(x, t)

The function to compute the control input for the double pendulum’s actuator(s).

Parameters:

xarray_like, shape=(4,), dtype=float,

state of the double pendulum, order=[angle1, angle2, velocity1, velocity2], units=[rad, rad, rad/s, rad/s]

tfloat, optional

time, unit=[s] (Default value=None)

Returns:

array_like

shape=(2,), dtype=float actuation input/motor torque, order=[u1, u2], units=[Nm]

get_init_trajectory()

Get the initial (reference) trajectory used by the controller.

Returns:

numpy_array

time points, unit=[s] shape=(N,)

numpy_array

shape=(N, 4) states, units=[rad, rad, rad/s, rad/s] order=[angle1, angle2, velocity1, velocity2]

numpy_array

shape=(N, 2) actuations/motor torques order=[u1, u2], units=[Nm]

save_(save_dir)

Save controller parameters

Parameters:

save_dirstring or path object

directory where the parameters will be saved