hinfinity_project

This repository is a Python implementation of my capstone project, Controle Hinf por Realimentação de Estados Aplicado a um Robô Omnidirecional (state-feedback H∞ control applied to an omnidirectional robot, in Portuguese), originally developed in MATLAB. The code differs slightly from the original work in a few details, such as the sampling period and some robot parameters.

Running the App

The project is presented as a Streamlit app with a theory page and an interactive simulation page, where you can draw a path and watch the robot follow it.

pip install -r requirements.txt
streamlit run home_page.py

ffmpeg must be installed to generate the simulation videos.

Alternatively, with Docker:

docker build -t hinfinity .
docker run -p 8080:8080 hinfinity

and open http://localhost:8080.

Robot

The robot parameters and its state-space representation are defined in src/system_data.py.

Controller Design

src/project.py contains the functions that compute the H∞ controller, with pole placement in a disk, for a system in the generalized form.

A set of controllers for a grid of disk centers and radii can be computed with:

python cli.py multiproject -o data/controllers.json -c 0.1 -r 0.1

Simulation

The notebook evaluation_SCS.ipynb analyzes the controllers designed with the SCS solver, selects one and runs simulations with it.