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| author | YanzhenXiang <54230111+YanzhenXiangRobotics@users.noreply.github.com> | 2023-11-06 16:49:26 +0100 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2023-11-06 16:49:26 +0100 |
| commit | d6b96c55ebb89ebd6e2d990ec89122799c68a230 (patch) | |
| tree | 7a837438da9e07a5e77658c6d882577fff8bcae1 /Submission files/MPC_TUBE_script.m | |
| parent | Update 23 (diff) | |
| parent | update the new submission zip generated from npross branch (diff) | |
| download | mpc_pe-master.tar.gz mpc_pe-master.zip | |
Submission
Diffstat (limited to '')
| -rw-r--r-- | Submission files/MPC_TUBE_script.m | 15 |
1 files changed, 15 insertions, 0 deletions
diff --git a/Submission files/MPC_TUBE_script.m b/Submission files/MPC_TUBE_script.m new file mode 100644 index 0000000..a021cd0 --- /dev/null +++ b/Submission files/MPC_TUBE_script.m @@ -0,0 +1,15 @@ +p = [0.05, 0.1]; +params = generate_params(); +params = generate_params_z(params); +K_tube = compute_tube_controller(p,params); +[H_tube, h_tube, n_iter] = compute_minRPI(K_tube, params); +params = compute_tightening(K_tube, H_tube, h_tube, params); + +Q = diag([300,0.1]);R = 1;N = 50; +[H_N, h_N] = lqr_maxPI(Q, R, params); + +% MPC_TUBE_obj = MPC_TUBE(Q,R,N,H_N,h_N,H_tube,h_tube,K_tube,params); +matfile = struct("p", p, "K_tube", K_tube, "H_tube", H_tube, "h_tube", h_tube,... + "H_N", H_N, "h_N", h_N, "params_z_tube", params); +save("MPC_TUBE_params.mat", "-struct", "matfile"); + |