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experiments/mpsc/config_overrides/mpsc_acados_quadrotor_2D_attitude.yaml
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safety_filter: nl_mpsc | ||
sf_config: | ||
# LQR controller parameters | ||
q_mpc: [18, 0.1, 18, 0.5, 0.5, 0.0001] | ||
r_mpc: [3., 3.] | ||
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prior_info: | ||
prior_prop: | ||
beta_1: 18.11298 | ||
beta_2: 3.6800 | ||
beta_3: 0 | ||
alpha_1: -140.8 | ||
alpha_2: -13.4 | ||
alpha_3: 124.8 | ||
randomize_prior_prop: False | ||
prior_prop_rand_info: null | ||
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# MPC Parameters | ||
use_acados: True | ||
horizon: 25 | ||
warmstart: True | ||
integration_algo: rk4 | ||
use_terminal_set: False | ||
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# Cost function | ||
cost_function: one_step_cost | ||
mpsc_cost_horizon: 5 | ||
decay_factor: 0.85 | ||
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# Softening | ||
soften_constraints: True | ||
slack_cost: 0.1 |
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experiments/mpsc/models/mpsc_parameters/linear_mpsc_quadrotor_2D_attitude.pkl
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experiments/mpsc/models/mpsc_parameters/nl_mpsc_quadrotor_2D_attitude.pkl
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