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# Multi-Purpose MPC
1. [Introduction](#Introduction)
2. [Implementation Details](#ImplementationDetails)
1. [MPC](##MPC)
3. [How-To](##How-To)
4. [Limitations and Outlook](#LimitationsOutlook)
1. [Introduction](#introduction)
2. [Implementation Details](#implementation-details)
1. [Model Predictive Controller (MPC)](#mpc)
3. [How-To](#how-to)
4. [Limitations and Outlook](#limitations)
## Introduction
[## Introduction](#introduction)
In this repository you find an implementation of a multi-purpose Model Predictive Controller. The controller was implemented as a contribution to the [Automatic Control Project Course (EL2425)](https://www.kth.se/student/kurser/kurs/EL2425) at KTH Royal Institute of Technology, Stockholm.
The developed algorithm was tested on a 1:10 RC car provided by [KTH Smart Mobility Lab](https://www.kth.se/dcs/research/control-of-transport/smart-mobility-lab/smart-mobility-lab-1.441539). The test scenarios comprised the following three tasks:
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The rest of this readme is structured as follows. In [Section 2](##Components) we will present an overview of the entire system and discuss all fundamental components of the implementation in detail. In [Section 3](##How-To) we will provide guidelines for using the implementation in simulation and practice. [Section 4](##Limitations) will be dedicated to analyzing limitations of the current version of the controller and outline potential extensions of the implementation.
## Implementation Details
[## Implementation Details](implementation-details)
[### Model Predictive Controller (MPC)](#mpc)
## How-To
[## How-To](#how-to)
## Limitations and Outlook
[## Limitations and Outlook](#limitations)