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Diffstat (limited to '')
-rw-r--r-- | templates/MPC.m | 89 |
1 files changed, 9 insertions, 80 deletions
diff --git a/templates/MPC.m b/templates/MPC.m index b2d411d..3e9d2f1 100644 --- a/templates/MPC.m +++ b/templates/MPC.m @@ -6,44 +6,6 @@ % Please see the LICENSE file that has been included as part of this package. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% classdef MPC -% properties -% yalmip_optimizer -% end -% -% methods -% function obj = MPC(Q,R,N,params) -% nu = params.model.nu; -% nx = params.model.nx; -% -% % define optimization variables -% U = sdpvar(repmat(nu,1,N),ones(1,N),'full'); -% X0 = sdpvar(nx,1,'full'); -% -% % YOUR CODE HERE -% -% opts = sdpsettings('verbose',1,'solver','quadprog'); -% obj.yalmip_optimizer = optimizer(constraints,objective,opts,X0,{U{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; -% -% [u, objective] = optimizer_out{:}; -% -% feasible = true; -% if (errorcode ~= 0) -% feasible = false; -% end -% -% ctrl_info = struct('ctrl_feas',feasible,'objective',objective,'solvetime',solvetime); -% end -% end -% end - classdef MPC properties yalmip_optimizer @@ -53,64 +15,31 @@ classdef MPC function obj = MPC(Q,R,N,params) nu = params.model.nu; nx = params.model.nx; - % YOUR CODE HERE + % define optimization variables - A=params.model.A; - B=params.model.B; U = sdpvar(repmat(nu,1,N),ones(1,N),'full'); - X = sdpvar(repmat(nx,1,N+1),ones(1,N+1),'full'); - - [K,P,~] = dlqr(A,B,Q,R); - - % define constraints -% s_max=params.constraints.MaxAbsPositionXZ; -% y_max=params.constraints.MaxAbsPositionY; -% u_max = params.constraints.MaxAbsThrust; - H_x = params.constraints.StateMatrix; - h_x = params.constraints.StateRHS; - H_u = params.constraints.InputMatrix; - h_u = params.constraints.InputRHS; X0 = sdpvar(nx,1,'full'); - objective = 0; - constraints = X{1} == X0; - for k = 1:N - constraints = [ ... - constraints, ... - X{k+1} == A*X{k} + B*U{k} , ... - H_x * X{k} <= h_x, ... - H_u * U{k} <= h_u ... - ]; - objective = objective + X{k}'*Q*X{k} + U{k}'*R*U{k}; - end - objective=objective+X{N+1}'*P*X{N+1}; - % terminal constraint -% constraints = [ ... -% constraints, ... -% X{N+1} == zeros(nx,1) -% ]; + % YOUR CODE HERE + opts = sdpsettings('verbose',1,'solver','quadprog'); obj.yalmip_optimizer = optimizer(constraints,objective,opts,X0,{U{1} objective}); end function [u, ctrl_info] = eval(obj,x) - % evaluate control action by solving MPC problem + %% evaluate control action by solving MPC problem, e.g. tic; - [optimizer_out,errorcode,~] = obj.yalmip_optimizer{x}; + [optimizer_out,errorcode] = obj.yalmip_optimizer(x); solvetime = toc; + + [u, objective] = optimizer_out{:}; - % extract optimal control action and objective function value - u = optimizer_out{1}; - objective = optimizer_out{2}; - - % check feasibility of optimization problem - feasible = ~isnan(objective) && ~isinf(objective); + feasible = true; if (errorcode ~= 0) feasible = false; end - % create control info struct ctrl_info = struct('ctrl_feas',feasible,'objective',objective,'solvetime',solvetime); end end -end +end
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