Model Predictive Control (MPC) Demo

Loading…

Solver failed: pendulum reset to its start

Parameters

Tip Target X: -1.0

Tip Target Y: 1.0

Obstacle X: 0.0

Obstacle Y: 1.0

Sim: Stopped

MPC: Stopped

Force u₀: 0.0 N

Solver: -

Variant: measuring…

Solve time (mean / p99): -

Deadline misses (> 15 ms): -

Speed vs real time: -

Background solver: -

Resets after solver failure: 0

Frozen horizon: -

Timing the controller variants on this device…

Max force: - N

Force penalty: -

Change-in-force penalty: -

Tip distance weight q: -

Distance cost shape quadratic q·d² (shipped) rational q·d²/(1 + d²/s²) exponential q·s²(1 − e^−d²/s²)

Saturation distance s: - m (max q·s² = -)

Speed penalty: -

Angle shaping: -

Terminal multiplier: -

Terminal speed penalty: -

Energy boost when frozen: - (0 = off)

Horizon N: -

Background horizon N: -

Background max iterations: -

Offer judged on real-time horizon (shipped) background horizon

First interval: - ms

Interval growth: -

Cart damping: - N·s/m

Joint damping: - N·m·s/rad

The controller has a single control input: the horizontal force on the cart. The pendulum's joints are not driven and free to move.