krichelj / pydiffgame Goto Github PK

Make the appearance of the legend for the plot of the P matrix be optional

Even though solving for the matrix P does provide a reasonable solution,
simulating the result with a corresponding state space does not produce
a reasonable behavior.

This could be due to numerical difficulties during solving caused by the
the numbers in the given example or due to a problem in the model.

Suggested:

• Try different examples
• Refactor mode

Add additional explanations on Control Theory notions, such as closed and open loop, Riccati equation, etc

Color lines of code according to Python notation

Assure the solution matrix P in the infinite horizon case is the same as for the steady-state solution for the finite horizon case

Add additional explanations for the input parameters sizes on the main Readme page

Add references to additional packages and mathematical description

When I tried to run InvertedPendulum.py, I was encountered with the problem

self._m = self._B.shape[1]
AttributeError: 'list' object has no attribute 'shape'

then I changed this sentence into

self._n = len(self._A)#self._A.shape[0]
self._m = len(self._B[0])#self._B.shape[1]

then here came another problem:

File "D:\codes/py_codes/PyDiffGame-master/src\PyDiffGame\PyDiffGame.py", line 466, in __get_are_P_f
P_f_i = are_solver(self._A, B_i, Q_i, R_ii)
File "D:\Software\anaconda\lib\site-packages\scipy\linalg_solvers.py", line 444, in solve_continuous_are
a, b, q, r, e, s, m, n, r_or_c, gen_are = _are_validate_args(
File "D:\Software\anaconda\lib\site-packages\scipy\linalg_solvers.py", line 797, in _are_validate_args
m, n = b.shape
ValueError: too many values to unpack (expected 2)

Could you please tell me how to solve these problems? Thanks for you.

in line 172 in PyDiffGame.py should it be as:
A_cl = self.__A - SP_sum
to make A be found by object.

While thanks for your graceful work，I'm new to the diffgame, please could tell more about the differential equation the example used? As dx/dt = Ax + Bu,the meaning in reality?
Could you please give some advice about how to deal with the pursuit/evasion scenarios like two cars with acc and thi controlling?