rcognita.controllers

This module contains high-level structures of controllers (agents).

Remarks:

  • All vectors are treated as of type [n,]

  • All buffers are treated as of type [L, n] where each row is a vector

  • Buffers are updated from bottom to top

Classes

CALFControllerExPost(*args[, critic_period, …])

CALFControllerPredictive(*args[, …])

Controller(time_start, sampling_time, …)

A blueprint of optimal controllers.

Controller3WRobotDisassembledCLF(m, I[, …])

This is a class of nominal controllers for 3-wheel robots used for benchmarking of other controllers.

Controller3WRobotNIDisassembledCLF([…])

Nominal parking controller for NI using disassembled supper_bound_constraintradients.

Controller3WRobotNIMotionPrimitive(K[, …])

Controller3WRobotPID(state_init[, params, …])

ControllerPID(P, I, D[, SP, sampling_time, …])

ControllerStabilizing(*args, …)

A blueprint of optimal controllers.

NominalControllerInvertedPendulum(…)

RLController(*args[, critic_period, actor, …])

Reinforcement learning controller class.