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Inverted pendulum with deep reinforcement learning and model-based control methods

Jupyter Notebook 99.04% Python 0.96% Shell 0.01%

cartpole control-systems control-theory deep deep-neural-networks deep-reinforcement-learning diy-solutions education inverted-pendulum reinforcement-learning

cart_pole's Introduction

Cart Pole

The article: PLOS ONE

DQN, PPO, SAC for real/simulated cart-pole problem. The parameters are optimized using Optuna library.

Simulation based on real-setup parameters and model.

To generate the simulation of different parameters

python EJPH/generate_data.py

To plot the simulation results of different parameters

python EJPH/plots.py

cart-pole agent-environement interaction

rpi_control for environement interface of PC and raspberry pi written in python/c++

If you want c++ server/client with python client, you can use this. Also, tutorials and examples are available in this repository.

The video of installation and deep RL (DQN) control is here

LQR with Lyapunov-based swing-up is here

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INTEFACE

'#!/usr/bin/env python3
#wifi latency aller-retour can go up to 0.1s, alors que par fil: moins de 1ms
#%%
import time
import os
import serial
import pandas as pd
pd.options.plotting.backend = "plotly"
import timeit
import numpy as np
import sys
import time
import random
import pigpio

import board
import busio
import adafruit_ads1x15.ads1115 as ADS
from adafruit_ads1x15.ads1x15 import Mode
from adafruit_ads1x15.analog_in import AnalogIn
from datetime import datetime
import socket
HOST = '192.168.19.125'#'c0:3e:ba:6c:9e:eb'#'10.42.0.1'#wifi-hotspot # The server's hostname or IP address
PORT = 65432 # The port used by the server
import math
import numpy as np
#rpi
import time
from matplotlib import pyplot as plt
import logging
from logging import info, basicConfig
import pigpio
import sys
FORMAT='utf-8'
PI_INPUT = pigpio.INPUT
PI_PUD_UP = pigpio.PUD_UP
pi = pigpio.pi()

if not pi.connected:
exit()
print('exit')

logname='TCP_DEBUG'
basicConfig(filename=logname,
filemode='w',#'a' for append
format='%(asctime)s,%(msecs)d %(name)s %(levelname)s %(message)s',
datefmt='%H:%M:%S',
level=logging.DEBUG)
start_time = time.time()

if name == "main":
start = timeit.default_timer()
data_list = []
TIMESTEP = 0.003 # in s
DURATION = 60 # in s
STEPS = 800

RATE = 860
# Create the I2C bus
# i2c = busio.I2C(board.SCL, board.SDA)
i2c = busio.I2C(board.SCL, board.SDA, frequency=1000000)

# Create the ADC object using the I2C bus
ads = ADS.ADS1115(i2c)

# ADC Configuration
ads.mode = Mode.CONTINUOUS
ads.data_rate = RATE

# Create single-ended input on channel 0
adc2 = AnalogIn(ads, ADS.P2) ## force 1
adc3 = AnalogIn(ads, ADS.P3) ## force 2
# First ADC channel read in continuous mode configures device
# and waits 2 conversion cycles
_ = adc2.value
_ = adc3.value
MIN_ANGLE = 30
MAX_ANGLE = 150
MIN_WIDTH = 800 ## µs
MAX_WIDTH = 2200 ## µs
MID_WIDTH = (MIN_WIDTH+MAX_WIDTH)/2

T = (1/freq)*1000 # in ms

t0 = get_current_milli_time() 
for j in range(STEPS+1):

    duration = timeit.default_timer()-start
    force1 = adc2.voltage
    force2 = adc3.voltage
    forcex = force1 - offsetF1
    forcey = force2 - offsetF2
    try:
        #### to verify the proprio angle, we test the harmonic one
        currentTime = get_current_milli_time()
        # angle = alpha0*widthScale*np.sin(omega*(currentTime-t0)/1000)/(MAX_WIDTH-MIN_WIDTH)/3.14*180
        # width = alpha0*widthScale*np.sin(omega*(currentTime-t0)/1000)+MID_WIDTH
        moment = currentTime-t0
        angle = alpha0*np.piecewise(moment, [moment%T<=(T/2), moment%T>(T/2)], [-1, 1])
        width = MID_WIDTH+widthScale*angle
        ###################################
        #print('angle', angle)
        #print('width', width)
        pi.set_servo_pulsewidth(pin, width)
        # time.sleep(0.05)
    except:
        pass

    data_list.append({'time':duration, 'Fx':forcex, 'Fy':forcey, 'phi_c':angle, 'pwm':width})
    time.sleep(TIMESTEP)

with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
    info('connecting')
    s.connect((HOST, PORT))

    pi.set_servo_pulsewidth(pin, width)
    pi.stop()'

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