Linearizing System and LQR Control in Drake (Python Tutorial 3)
Автор: Logan Dihel
Загружено: 2025-07-05
Просмотров: 391
Описание:
Learn what it means to linearize a nonlinear system, and how to use Drake to linearize a pendulum system. Learn the math behind the linear quadratic regulator (LQR) and how to use the LQR controller to stabilize the pendulum plant to both the stable and unstable equilibrium points. Simulate the closed loop system using Drake for a variety of initial conditions, and look at the limitations of the LQR controller on systems subject to saturation.
Github: https://github.com/logdog/drake-tutor...
0:00 Introduction
0:19 What is Linearization?
1:40 Why is Linearization Useful?
2:14 Linearize a LeafSystem in Drake
3:17 LQR for Pendulum
5:27 Calculate LQR Gain
6:12 Simulate LQR to Down Position
7:30 LQR for Nonzero Equilibrium
8:40 Simulate LQR to Up Position
10:22 Saturation and LQR Control
11:33 Energy Shaping Teaser
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