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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 /templates/simulate.m | |
| parent | Update 23 (diff) | |
| parent | update the new submission zip generated from npross branch (diff) | |
| download | mpc_pe-d6b96c55ebb89ebd6e2d990ec89122799c68a230.tar.gz mpc_pe-d6b96c55ebb89ebd6e2d990ec89122799c68a230.zip | |
Submission
Diffstat (limited to '')
| -rw-r--r-- | templates/simulate.m | 15 |
1 files changed, 12 insertions, 3 deletions
diff --git a/templates/simulate.m b/templates/simulate.m index 3138cd1..6be40c3 100644 --- a/templates/simulate.m +++ b/templates/simulate.m @@ -7,8 +7,17 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% function [Xt,Ut,ctrl_info] = simulate(x0, ctrl, params) + % YOUR CODE HERE + % Hint: you can access the control command with ctrl.eval(x(:,i)) -% YOUR CODE HERE -% Hint: you can access the control command with ctrl.eval(x(:,i)) + Xt = zeros(params.model.nx, params.model.HorizonLength+1); + Ut = zeros(params.model.nu, params.model.HorizonLength); + ctrl_info = repmat(struct('ctrl_feas',true), 1, params.model.HorizonLength); -end
\ No newline at end of file + Xt(:,1) = x0; + for k=1:params.model.HorizonLength + [u, ~] = ctrl.eval(Xt(:,k)); + Ut(:,k) = u; + Xt(:,k+1) = params.model.A * Xt(:,k) + params.model.B * Ut(:,k); + end +end |