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authorNao Pross <np@0hm.ch>2023-05-24 16:39:28 +0200
committerNao Pross <np@0hm.ch>2023-05-24 16:55:13 +0200
commit532c9636258f779955ec5ff7aba7c45ac64146e4 (patch)
tree6725ffa3df5d23593eac23015c09ada4c9263aab
parentTake deliverables for MPC with theoretical closed-loop guarantees (diff)
downloadmpc_pe-532c9636258f779955ec5ff7aba7c45ac64146e4.tar.gz
mpc_pe-532c9636258f779955ec5ff7aba7c45ac64146e4.zip
Take deliverables for soft contraints from yuanxu
Acording to table 9 - MPC_TS_SC - MPC_TS_SC/eval - MPC_TS_SC_script (.m and MPC_TS_SC_params.mat output file)
Diffstat (limited to '')
-rw-r--r--templates/MPC_TS_SC.m42
-rw-r--r--templates/MPC_TS_SC_params.matbin0 -> 223 bytes
-rw-r--r--templates/MPC_TS_SC_script.m14
3 files changed, 53 insertions, 3 deletions
diff --git a/templates/MPC_TS_SC.m b/templates/MPC_TS_SC.m
index 0e64767..fb1c720 100644
--- a/templates/MPC_TS_SC.m
+++ b/templates/MPC_TS_SC.m
@@ -14,22 +14,58 @@ classdef MPC_TS_SC
methods
function obj = MPC_TS_SC(Q,R,N,H,h,S,v,params)
% YOUR CODE HERE
+ % initialize parameters
+ nu = params.model.nu;
+ nx = params.model.nx;
+ A=params.model.A;
+ B=params.model.B;
+ H_x = params.constraints.StateMatrix;
+ h_x = params.constraints.StateRHS;
+ H_u = params.constraints.InputMatrix;
+ h_u = params.constraints.InputRHS;
+ [~,P,~] = dlqr(A,B,Q,R);
+
+ U = sdpvar(repmat(nu,1,N),ones(1,N),'full');
+ X = sdpvar(repmat(nx,1,N+1),ones(1,N+1),'full');
+ sv = sdpvar(repmat(length(S(1,:)),1,N+1),ones(1,N+1),'full');
+
+ X0 = sdpvar(nx,1,'full');
+ objective = 0;
+ constraints = X{1} == X0;
+ % items for 1 to N
+ for k=1:N
+ objective = objective + X{k}' * Q * X{k} + U{k}' * R * U{k} + sv{k}' * S * sv{k} + v * max(sv{k});
+ constraints = [constraints, ...
+ X{k+1} == A * X{k} + B * U{k}, ...
+ H_x * X{k} <= h_x+sv{k}, ...
+ H_u * U{k} <= h_u, ...
+ sv{k} >= 0 ...
+ ];
+ end
+ % items for N+1
+ objective = objective + X{N+1}'*P*X{N+1} + sv{N+1}'*S*sv{N+1} + v*max(sv{N+1});
+ constraints = [constraints, ...
+ sv{N+1} >= 0, ...
+ H_x * X{N+1} <= h_x + sv{N+1} ...
+ ];
+ % maximum positively invariant set constraint
+ constraints = [constraints, H * X{N+1} <= h];
opts = sdpsettings('verbose',1,'solver','quadprog','quadprog.TolFun',1e-8);
obj.yalmip_optimizer = optimizer(constraints,objective,opts,X0,{U{1} objective});
end
function [u, ctrl_info] = eval(obj,x)
- %% evaluate control action by solving MPC problem, e.g.
+ % evaluate control action by solving MPC problem
tic;
- [optimizer_out,errorcode] = obj.yalmip_optimizer(x);
+ [optimizer_out,errorcode,~] = obj.yalmip_optimizer{x};
solvetime = toc;
+
[u, objective] = optimizer_out{:};
feasible = true;
if (errorcode ~= 0)
feasible = false;
end
-
ctrl_info = struct('ctrl_feas',feasible,'objective',objective,'solvetime',solvetime);
end
end
diff --git a/templates/MPC_TS_SC_params.mat b/templates/MPC_TS_SC_params.mat
new file mode 100644
index 0000000..b8cc020
--- /dev/null
+++ b/templates/MPC_TS_SC_params.mat
Binary files differ
diff --git a/templates/MPC_TS_SC_script.m b/templates/MPC_TS_SC_script.m
new file mode 100644
index 0000000..9499cf1
--- /dev/null
+++ b/templates/MPC_TS_SC_script.m
@@ -0,0 +1,14 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+S=100000000*eye(6);
+v=100000000;
+matfile=struct("S",S,"v",v);
+save("MPC_TS_SC_params.mat","-struct","matfile")
+
+