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-rw-r--r--templates/MPC_TUBE.asv83
-rw-r--r--templates/MPC_TUBE.m14
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)