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| author | Nao Pross <np@0hm.ch> | 2023-05-24 16:50:06 +0200 |
|---|---|---|
| committer | Nao Pross <np@0hm.ch> | 2023-05-24 17:03:43 +0200 |
| commit | 1f12e47e6d1fe8b365806aa0b42de237970d53bf (patch) | |
| tree | ba9c739eb170397a7b7a9303e3ea7d1a03a94844 /templates/simulate_uncertain.m | |
| parent | Take deliverables for soft contraints from yuanxu (diff) | |
| download | mpc_pe-1f12e47e6d1fe8b365806aa0b42de237970d53bf.tar.gz mpc_pe-1f12e47e6d1fe8b365806aa0b42de237970d53bf.zip | |
Take deliverables for Robust MPC from yanzhen
According to table 12
- generate_disturbances
- simulate_uncertain
- compute_tube_contorller
- compute_minRPI
- compute_tightening
- MPC_TUBE
- MPC_TUBE/eval (contained in MPC_TUBE.m)
- MPC_TUBE_script (and its output MPC_TUBE_params.mat)
Diffstat (limited to '')
| -rw-r--r-- | templates/simulate_uncertain.m | 13 |
1 files changed, 13 insertions, 0 deletions
diff --git a/templates/simulate_uncertain.m b/templates/simulate_uncertain.m index dc9df26..f74f7af 100644 --- a/templates/simulate_uncertain.m +++ b/templates/simulate_uncertain.m @@ -8,4 +8,17 @@ function [Xt,Ut,ctrl_info] = simulate_uncertain(x0, ctrl, Wt, params) % YOUR CODE HERE + Xt = [x0]; + Ut = []; + x = x0 + ctrl_info = []; + % obj = LQR(); + for i = 1:params.model.HorizonLength + [u, ctrl_info_] = ctrl.eval(x); + Ut = [Ut u]; + ctrl_info = [ctrl_info ctrl_info_]; + x = params.model.A*x + params.model.B*u + Wt(:,i); + Xt = [Xt x]; + end + % plot_trajectory(Xt, Ut, ctrl_info, params); end
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