diff options
author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 20:42:56 +0200 |
---|---|---|
committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 20:42:56 +0200 |
commit | c11fe8fc6094ce3823a4a8b9b78ea8ea81e65778 (patch) | |
tree | b5dcaf73bb9842ee72e457a3bac7ce6589b42122 /templates/MPC_TUBE.m | |
parent | ADD: .gitignore (diff) | |
download | mpc_pe-c11fe8fc6094ce3823a4a8b9b78ea8ea81e65778.tar.gz mpc_pe-c11fe8fc6094ce3823a4a8b9b78ea8ea81e65778.zip |
FIX: .gitignore
Diffstat (limited to '')
-rw-r--r-- | templates/MPC_TUBE.m | 40 |
1 files changed, 40 insertions, 0 deletions
diff --git a/templates/MPC_TUBE.m b/templates/MPC_TUBE.m new file mode 100644 index 0000000..bd62044 --- /dev/null +++ b/templates/MPC_TUBE.m @@ -0,0 +1,40 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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_TUBE + properties + yalmip_optimizer + K_tube + end + + methods + function obj = MPC_TUBE(Q,R,N,H_N,h_N,H_tube,h_tube,K_tube,params) + obj.K_tube = K_tube; + + % YOUR CODE HERE + + opts = sdpsettings('verbose',1,'solver','quadprog'); + obj.yalmip_optimizer = optimizer(constraints,objective,opts,X0,{V{1} Z{1} objective}); + end + + function [u, ctrl_info] = eval(obj,x) + %% evaluate control action by solving MPC problem, e.g. + tic; + [optimizer_out,errorcode] = obj.yalmip_optimizer(x); + solvetime = toc; + % YOUR CODE HERE + + feasible = true; + if (errorcode ~= 0) + feasible = false; + end + + ctrl_info = struct('ctrl_feas',feasible,'objective',objective,'solvetime',solvetime); + end + end +end
\ No newline at end of file |