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| author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-05-15 17:02:21 +0200 |
|---|---|---|
| committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-05-15 17:02:21 +0200 |
| commit | 1afec60c8acd4f53ef73b3bf0c76bf729a7416a2 (patch) | |
| tree | 0aca3df1819b3af47ffafd4e6a905090c3ae1377 /templates/MPC_TUBE_script.m | |
| parent | ADD: pass 30 (diff) | |
| download | mpc_pe-1afec60c8acd4f53ef73b3bf0c76bf729a7416a2.tar.gz mpc_pe-1afec60c8acd4f53ef73b3bf0c76bf729a7416a2.zip | |
ADD: pass 31yanzhen
Diffstat (limited to 'templates/MPC_TUBE_script.m')
| -rw-r--r-- | templates/MPC_TUBE_script.m | 15 |
1 files changed, 15 insertions, 0 deletions
diff --git a/templates/MPC_TUBE_script.m b/templates/MPC_TUBE_script.m new file mode 100644 index 0000000..a021cd0 --- /dev/null +++ b/templates/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"); + |