Personal tasks of this week:
Task: Double pendulum swing up with NMPC
Definition: Building Prototype 2 by creating a double pendulum system, designing a controller to control the system, and visualizing the simulation.
Completion: Currently, I have created the system and designed a controller with Thomas using do-mpc that can successfully swing up the pendulum.
Task: Slides for design review presentation
Definition: Creating the slides for the design review next week with the rest of the team. Also rehearsing for the presentation.
Completion: The presentation is mostly completed. Aim to complete by Sunday.
Next Steps:
The completion of P2 has validated the problem can be solved using a software SQP solver. The next step is then to isolate the QP subroutine in preparation for replacing it with our analog solver. Basic profiling should also done on P2 to collect performance data.
Overall progress assessment:
Currently on schedule. P2 is completed.