Chapter 10: Optimal Control

Note

This chapter is being written. Some sections already exist, the others are planned.

Optimal control for path tracking in Python: LQR, model predictive control (MPC) and MPPI. Linearize and discretize the model of Chapter 3, and use it to compute the controls that minimize a cost: as a linear model (LQR), as the constraints of an optimization (MPC), and to roll out sampled controls (MPPI).

Sections

• 10.1 Linearization and discretization of the vehicle model

• 10.2 LQR: lqr_path_tracking

• 10.3 Model predictive control (MPC): mpc_path_tracking

• 10.4 Model predictive path integral control (MPPI): mppi_path_tracking

The system so far

The geometric controller of Chapter 4 is swapped for an optimal controller, and the two are compared on the same course.

Shown today by mpc_path_tracking.

Before this chapter

Chapter 4, Chapter 6, Math background: linear algebra, linearization, optimization.