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Save mayataka/7e608dbbbcd93d232cf44e6cab6b0332 to your computer and use it in GitHub Desktop.
Ahh yeah, I may have to spend more time on Autogenu-jupyter. In this few week, I just found a Qiita forum discussion and sharing group. It is a very good platform, but I just want to know if there is any other platform that I can seek more information in studying robotics.
But anyway thank you for you replying.
Best regards,
Sokheng Din
I don't know about such services. You should ask your supervisor, professors at your University, and some others.
Also, "robotics" contains a lot of topics. Just regarding MPC, I picked up recommend books at the beginning of this notebook.
Here I'm willing to answer questions regarding MPC and optimal control. But your question is totally out of the scope of this notebook.
I hope you can find a good place to ask your questions.
@mayataka Thank you for much for helping and kindness. I will to understand your notebook as soon as possible so that we can discuss about opc ;)!
片山さん @mayataka
東大工学部機械工学科3年の上條と申します。
分かり易い資料を公開していただきありがとうございます。大変勉強になりました。
5. モデル予測制御CasADiによる実装のMPCクラスを定義している部分で、am_g0 = [] # 制約 lbg以下がこのページでは表示されていないようです。些細なことですが、念の為報告させていただきます。
@tatsukamijo
ごいただき報告ありがとうございます．本当ですね．ダウンロードすれば問題ないようですね．
@mayataka Hi Mayataka, I have study some of your notebooks of AutoGenU. But I really don't understand Where is the closed loop of the system is happend? since I am planning to implement it in real-time robot with C/GMRES method on NMPC. Can you help indicate me where is it ? Thank you in advance!
@SokhengDin
Could you write the issue in https://github.com/mayataka/autogenu-jupyter? This is not the place to discuss autogenu-jupyter.
Hello， Your paper is very good. "A moving switching sequence approach for nonlinear model predictive control of switched systems with state-dependent switches and state jumps". I'm very interested in your work. I would like to ask you some questions. 1."If the instant of the first switch of the switching sequence after the solution is updated is less than
the next sampling time, we predict the actual switch between the current sampling time and the next sampling time
and then remove variables related to the switch from the solution". How to implement in the program？ Is it convenient to provide sample programs for learning？I'm looking forward to your reply. I wish you a happy day. Thank you very much.@mayataka
Hi @SokhengDin,
In autogenu-jupyter, actually the notebooks for the code generation (e.g., https://github.com/mayataka/autogenu-jupyter/blob/master/cartpole.ipynb) themselves contain several introductions of MPC.
Do you want more detailed explanations in the notebooks for the code generations?
Or do you want tutorials for the python bindings? Actually the latter is not suitable for the tutorial because we can formulate the OCP only in the code generation part.
What is the forum? Is it different from conferences such as IROS and ICRA?
Best,
Sotaro Katayama