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do-mpc Tutorial on Robust Anti-Sway Control for Bridge Cranes Released

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Guyuehome released a do-mpc tutorial that uses bridge crane anti-sway as its subject, deriving the dynamics of a compound pendulum consisting of a sliding platform, a homogeneous suspension rod, and a load, and presenting the construction of a multi-stage scenario tree, non-anticipative input sharing, and an equally weighted expected objective. The author completed a measurement-intermittent comparative experiment between a nominal controller and a robust controller in the MuJoCo physics engine.

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  1. do-mpc: Robust Model Predictive Control with Multi-Stage Scenario Trees

    Using bridge crane anti-sway as the object, the article derives the composite pendulum dynamics formed by the trolley, a homogeneous suspension rod, and the payload, and presents the construction of a multi-stage scenario tree, non-anticipative input sharing, and an equally weighted expected objective. The authors conducted measurement-intermittent comparative experiments between nominal and robust controllers in the MuJoCo physics engine.

    Guyuehome ·

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Motion controlData and simulationGuides and practice

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