diff options
| -rw-r--r-- | templates/MPC_TUBE.asv | 83 | ||||
| -rw-r--r-- | templates/MPC_TUBE.m | 14 |
2 files changed, 92 insertions, 5 deletions
diff --git a/templates/MPC_TUBE.asv b/templates/MPC_TUBE.asv new file mode 100644 index 0000000..382f150 --- /dev/null +++ b/templates/MPC_TUBE.asv @@ -0,0 +1,83 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 + nx = params.model.nx; + nu = params.model.nu; + + A = params.model.A; + B = params.model.B; + + [~,P,~] = dlqr(A,B,Q,R); + + V = sdpvar(repmat(nu,1,N),ones(1,N),'full'); + Z = sdpvar(repmat(nx,1,N+1),ones(1,N+1),'full'); + + H_x = params.constraints.StateMatrix; + h_x = params.constraints.StateRHS; + H_u = params.constraints.InputMatrix; + h_u = params.constraints.InputRHS; + + P_x_tightened = Polyhedron('A',H_x,'b',h_x).minus(Polyhedron('A',H_tube,'b',h_tube)); + H_z = P_x_tightened.A; + h_z = P_x_tightened.b; + + P_u_tightened = Polyhedron('A',H_u,'b',h_u).minus(K_tube*Polyhedron('A',H_tube,'b',h_tube)); + H_v = P_u_tightened.A; + h_v = P_u_tightened.b; + + X0 = sdpvar(nx,1,'full'); + constraints = [H_tube*(X0-Z{1}) <= h_tube]; + objective = 0; + for k = 1:N + constraints = [ ... + constraints, ... + Z{k+1} == A*Z{k} + B*V{k} , ... +% H_z * Z{k} <= h_z, ... +% H_v * V{k} <= h_v ... + H_x * Z{k} <= h_x, ... + H_u * V{k} <= h_u ... + ]; + objective = objective + Z{k}'*Q*Z{k} + V{k}'*R*V{k}; + end + constraints = [constraints, H_N * Z{end} <= h_N]; + objective = objective + Z{end}'*P*Z{end}; + + 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 + [v0, z0, objective] = optimizer_out{:}; + u = obj.K_tube*(x-z0)+v0; + + + 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 diff --git a/templates/MPC_TUBE.m b/templates/MPC_TUBE.m index 83b056b..9a630c1 100644 --- a/templates/MPC_TUBE.m +++ b/templates/MPC_TUBE.m @@ -15,7 +15,7 @@ classdef MPC_TUBE 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 nx = params.model.nx; nu = params.model.nu; @@ -42,14 +42,16 @@ classdef MPC_TUBE h_v = P_u_tightened.b; X0 = sdpvar(nx,1,'full'); - constraints = [H_tube*(Z{1}-X0) <= h_tube]; + constraints = [H_tube*(X0-Z{1}) <= h_tube]; objective = 0; for k = 1:N constraints = [ ... constraints, ... Z{k+1} == A*Z{k} + B*V{k} , ... - H_z * Z{k} <= h_z, ... - H_v * V{k} <= h_v ... +% H_z * Z{k} <= h_z, ... +% H_v * V{k} <= h_v ... + H_x * Z{k} <= h_x, ... + H_u * V{k} <= h_u ... ]; objective = objective + Z{k}'*Q*Z{k} + V{k}'*R*V{k}; end @@ -66,7 +68,9 @@ classdef MPC_TUBE [optimizer_out,errorcode] = obj.yalmip_optimizer(x); solvetime = toc; % YOUR CODE HERE - [u, objective] = optimizer_out{:}; + [v0, z0, objective] = optimizer_out{:}; + u = obj.K_tube*(x-z0)+v0; + feasible = true; if (errorcode ~= 0) |