Merge pull request #1 from YanzhenXiangRobotics/submissionHEADmaster

Submission

1 files changed, 71 insertions, 0 deletions

diff --git a/Submission files/MPC.m b/Submission files/MPC.m
new file mode 100644
index 0000000..355eb81
--- /dev/null
+++ b/Submission files/MPC.m
@@ -0,0 +1,71 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% 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.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+classdef MPC
+    properties
+        yalmip_optimizer
+    end
+
+    methods
+        function obj = MPC(Q,R,N,params)
+            nu = params.model.nu;
+            nx = params.model.nx;
+            % YOUR CODE HERE
+            A=params.model.A;
+            B=params.model.B;
+            U = sdpvar(repmat(nu,1,N),ones(1,N),'full');
+            X = sdpvar(repmat(nx,1,N+1),ones(1,N+1),'full');
+
+            [K,P,~] = dlqr(A,B,Q,R);
+
+%             s_max=params.constraints.MaxAbsPositionXZ;
+%             y_max=params.constraints.MaxAbsPositionY;
+%             u_max = params.constraints.MaxAbsThrust;
+            H_x = params.constraints.StateMatrix;
+            h_x = params.constraints.StateRHS;
+            H_u = params.constraints.InputMatrix;
+            h_u = params.constraints.InputRHS;
+            X0 = sdpvar(nx,1,'full');
+            objective = 0;
+            constraints = X{1} == X0;
+            for k = 1:N
+                constraints = [ ...
+                    constraints, ...
+                    X{k+1} == A*X{k} + B*U{k} , ...
+                    H_x * X{k} <= h_x, ...
+                    H_u * U{k} <= h_u ...
+                ];
+
+                objective = objective + X{k}'*Q*X{k} + U{k}'*R*U{k};
+            end
+            objective=objective+X{N+1}'*P*X{N+1};
+            % terminal constraint
+%             constraints = [ ...
+%                 constraints, ...
+%                 X{N+1} == zeros(nx,1)
+%             ];
+            opts = sdpsettings('verbose',1,'solver','quadprog');
+            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
+            tic;
+            [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
+end