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⚙️ Controls.js is a sandbox showcasing a few modern controls techiques directly in the browser

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Controls.js

Controls.js is a sandbox showcasing a few modern controls techiques directly in the browser.

It harnesses eigen-js for all linear algebra and quadratic programming, and nlopt-js for non-linear optimization.

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Environments

alt text   Linear quadratic regulation

This environment demonstrates linear quadratic regulation of a few test systems around unstable trim points

alt text   Value iteration

A simple pendulum dynamics phase plane is discretized and the value iteration algorithm is run to obtain a swingup policy

alt text   Differential flatness

A differentially flat system, a 2D quadcopter, follows a custom spatial trajectory

alt text   Direct collocation

Nonlinear trajectory optimisation is demonstrated on a few dynamical systems using direct collocation

alt text   Model predictive control

Model predictive control is used to dynamically stabilize the systems in the previous section around their optimized trajectories for robust tracking.

alt text   Kalman Filter

A kalman filter estimator tracks a 2d top down car's state based on radar measurements

alt text   Particle Filter

A particle filter estimator tracks a 2d top down car's state based on radar measurements using a swarm of simulated particles

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