Controls sandbox
A repository for controls development
Inverting a pendulum with iLQR. The different phase graph sequences show the evolution of the algorithm as it approaches a desirable trajectory to the inversion goal.
Over the past year I’ve been developing a project for testing, comparing, and trying out different controls tools and algorithms. This project has served several purposes. First, to practice and stay sharp on different control materials. Second, to develop my skills as a software engineer, and third, to try out tools such as Jax autodiff with dynamics and optimal control problems.
Direct collocation and iLQR tranjectory optimization algorithms applied to the double pendulum and cart-pole underactuated systems.
System identification using sine sweep system characterization, ETFE algorithm, and Transfer function fitting through comparison minimization