simple_pendulum.controllers.open_loop
Open Loop Control
Submodules
simple_pendulum.controllers.open_loop.open_loop
Open Loop Controller
- class simple_pendulum.controllers.open_loop.open_loop.OpenLoopAndLQRController(data_dict, mass=1.0, length=0.5, damping=0.1, gravity=9.81, torque_limit=inf)
Bases:
AbstractController- get_control_output(meas_pos, meas_vel, meas_tau=0, meas_time=0, verbose=False)
The function to read and send the entries of the loaded trajectory as control input to the simulator/real pendulum. Switches to lqr control when in its region of attraction.
- Parameters:
- meas_posfloat
the position of the pendulum [rad]
- meas_velfloat
the velocity of the pendulum [rad/s]
- meas_taufloat, deault=0
the meastured torque of the pendulum [Nm]
- meas_timefloat, deault=0
the collapsed time [s]
- verbosebool, default=False
whether to print when the controller switches between preloaded trajectory and lqr
- Returns:
- des_posfloat
the desired position of the pendulum [rad]
- des_velfloat
the desired velocity of the pendulum [rad/s]
- des_taufloat
the torque supposed to be applied by the actuator [Nm]
- init(x0)
Initialize the controller. May not be necessary.
- Parameters:
- ``x0``: ``array like``
The start state of the pendulum
- set_goal(x)
Set the desired state for the controller. May not be necessary.
- Parameters:
- ``x``: ``array like``
The desired goal state of the controller
- class simple_pendulum.controllers.open_loop.open_loop.OpenLoopController(data_dict)
Bases:
AbstractControllerController acts on a predefined trajectory.
- get_control_output(meas_pos=None, meas_vel=None, meas_tau=None, meas_time=None)
The function to read and send the entries of the loaded trajectory as control input to the simulator/real pendulum.
- Parameters:
- meas_posfloat, deault=None
the position of the pendulum [rad]
- meas_velfloat, deault=None
the velocity of the pendulum [rad/s]
- meas_taufloat, deault=None
the meastured torque of the pendulum [Nm]
- meas_timefloat, deault=None
the collapsed time [s]
- Returns:
- des_posfloat
the desired position of the pendulum [rad]
- des_velfloat
the desired velocity of the pendulum [rad/s]
- des_taufloat
the torque supposed to be applied by the actuator [Nm]
- init(x0)
Initialize the controller. May not be necessary.
- Parameters:
- ``x0``: ``array like``
The start state of the pendulum
- set_goal(x)
Set the desired state for the controller. May not be necessary.
- Parameters:
- ``x``: ``array like``
The desired goal state of the controller