Gazelle_NMPC_controller

Installation

Prerequisites

1. MATLAB - R2020a or later
   • Toolbox
     • Control System Toolbox
     • Robotics System Toolbox
2. CasADi
   • casadi-windows-matlabR2016a-v3.5.5 (Checked)
   • Download the software from the official website and extract it into the same directory as the 'main.m' file.

File tree

• Make sure all the folders and files are organized in the following structure:
  • Gazelle_NMPC_controller
    • qpSWIFT
    • Kinematics
    • casadi-windows-matlabR2016a-v3.5.5
    • PARA.m
    • main.m
    • ...
• If you download the project (not clone), make sure to also download qpSWIFT.

How to use

To run the program, execute the 'main.m' file.

User inputs

1. main.m

• Step information

  • number_of_step: Number of steps
  • step_length: Step stride
  • step_width: Step width
  • step_time: Step period
  • L_or_R: First swing foot: 1: Left foot / -1: Right foot

• Disturbance information: Apply a disturbance with magnitude [Impact_force_x; Impact_force_y] [N] and duration [Impact_duration] [s] at [Impact_timing] [s] of the [Impact_step_number] [th step].

  • Impact_force_x: X-direction impact force
  • Impact_force_y: Y-direction impact force
  • Impact_duration: Duration of impact
  • Impact_timing: Timing of impact
  • Impact_step_number: Step number when impact occurs

• Flags

  • flag_HORIZON_CHANGED: Set to 1 if the number of MPC horizon is changed
  • flag_VISUALIZATION: Set to 1 enable graphics
  • flag_VISUALIZATION_ROBOT: Set to 1 to show the robot
  • flag_PLOT: Set to 1 to show plots

2. PARA.m
   • H: Number of MPC horizon
   • dt_MPC: Sampling time of MPC