This is a clean single file implementations of control algorithms (modal control, LQR, MPC).

Important

All controllers are avaliable for hot-plug for segway only now.

Important

simulator <-> ZMQ <-> controller

Install

python3 -m venv ./venv
source venv/bin/activate
pip install -r requirements.txt

sudo apt-get install build-essential cmake git libzmq3-dev libeigen3-dev 

Run

Model and gains can be found in (lqr, modal control, closed-form MPC)

python model.py

To simulate with mujoco (with system state vizualizetion)

python simulator.py & python rt-plotter.py

Note. For ubuntu 26.04 and wayland use PYGLFW_LIBRARY_VARIANT=wayland python simulator.py

Examples of controllers:

1. LQR with standup

   • C++

   g++ controllers/lqr_controller_with_standup.cpp -o controllers/lqr_controller_with_standup -lzmq -O3

   ./controllers/lqr_controller_with_standup

   • Python

   python controllers/lqr_controller_with_standup.py

2. MPC with standup

   • C++

     • prerequisites

     Install quadratic problem (osqp) solver

     git clone --recursive -b v1.0.0 https://github.com/oxfordcontrol/osqp.git
     
     cd osqp && mkdir build && cd build
     
     cmake -G "Unix Makefiles" ..
     cmake --build .
     cmake --build . --target install

     Install eigen wrapper for osqp

     git clone --recursive -b v0.11.0 https://github.com/robotology/osqp-eigen.git
     cd osqp-eigen && mkdir build && cd build
     cmake .. && make && make install

     • building

     cd controllers/mpc && mkdir build && cd build && cmake .. && make

     • next, from root dir of the repo, run

     python simulator.py & ./controllers/mpc/build/mpc

Acknolagments

Thanx to Antonov Evgeniy for model and modal control.