Controllers
The controller
module is implemented in agilib/src/controller/
. There are different kinds of controllers implemented:
MPC
: Model Predictive Controller. It uses acados with HPIPM solver to build an optimization problem that minimizes the distance between the designed reference and the online prediction.geometric_controller
: It implements a differential flatness based geometric controller.PID
: It implements a classical PID controller.INDI
: Inverse Nonlinear Dynamic Inversion controller. It’s primarily used for inner loop control (tracking body rates).