[SOLVED] Drake: any tutorial or example for nonlinear model predictive control?

Drake: any tutorial or example for nonlinear model predictive control?

I am currently learning the usage of the MIT Drake library for optimization and would like to formulate a nonlinear model predictive control problem. I notice that the pydrake examples show the methods to add nonlinear costs and constraints in a nonlinear program problem. However, I am not sure how to integrate nonlinear (and maybe even switching) system dynamics into the optimization problem. Are there any related examples or useful hints? Any help would be much appreciated.

Thanks,

Keran

Solution

We have a set of "trajectory optimization" classes that make it easy to set up a MathematicalProgram for this case. I'd recommend looking at http://underactuated.csail.mit.edu/trajopt.html.

The switching case needs more care, depending on exactly how you formulate it. I would need more details to advise. But planning through contact is similar: http://underactuated.csail.mit.edu/contact.html .