Personal tasks of this week:
Task: Profiling double pendulum swing up with NMPC
Definition: Analyzing results from the double pendulum swing up and performing performance profiling.
Completion: I have conducted some profiling on the performance of the NMPC controller, with results showing that most of the time spent in the pipeline is on solving the QP subproblem. This confirms the hypothesis that we can theoretically achieve a lot of speed up if the QP subproblem is solved using our analog solver.
Task: Design review presentation
Definition: Presenting the design review presentation
Completion: The presentation is completed.
Task: Formulating NMPC problem and isolating the QP subproblem
Definition: Formulating the NMPC problem for our system mathematically and converting it to a form that can be solved by SQP. After this is achieved, the QP subproblem can then be isolated. This step is to calculate what variables are used in the QP subproblem, so that the analog circuit can be designed to solve the correct subproblem.
Completion: The state update equations have been formulated. Next is converting the equations into a form that can be solved by SQP and then isolating the QP subproblem.
Next Steps:
The next step is to continue deriving the mathematical representation of the NMPC problem to eventually isolate the QP subroutine in preparation for replacing it with our analog solver.
Overall progress assessment:
Currently on schedule. Working towards isolation of the digital and analog solver.