diff options
Diffstat (limited to 'templates')
27 files changed, 0 insertions, 788 deletions
diff --git a/templates/.MATLABDriveTag b/templates/.MATLABDriveTag deleted file mode 100644 index 7aad4f3..0000000 --- a/templates/.MATLABDriveTag +++ /dev/null @@ -1 +0,0 @@ -f7c7757b-ada0-4bff-af70-1240edb65e6d
\ No newline at end of file diff --git a/templates/LICENSE.txt b/templates/LICENSE.txt deleted file mode 100644 index 685f12c..0000000 --- a/templates/LICENSE.txt +++ /dev/null @@ -1,7 +0,0 @@ -Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich. - -All rights reserved. - -The files are provided for educational purposes only and should be distributed only to the attendees of the class "151-0660-00L Model Predictive Control FS2023". - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. diff --git a/templates/LQR.m b/templates/LQR.m deleted file mode 100644 index 2a79da9..0000000 --- a/templates/LQR.m +++ /dev/null @@ -1,27 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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 LQR - properties - K - end - - methods - %constructor - function obj = LQR(Q,R,params) - % YOUR CODE HERE - % obj.K = ... (save feedback matrix for use in eval function) - end - - function [u, ctrl_info] = eval(obj,x) - % YOUR CODE HERE - % u = ... - ctrl_info = struct('ctrl_feas',true); - end - end -end
\ No newline at end of file diff --git a/templates/MPC.m b/templates/MPC.m deleted file mode 100644 index 3e9d2f1..0000000 --- a/templates/MPC.m +++ /dev/null @@ -1,45 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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 - 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
\ No newline at end of file diff --git a/templates/MPC_TE.m b/templates/MPC_TE.m deleted file mode 100644 index e0b55d2..0000000 --- a/templates/MPC_TE.m +++ /dev/null @@ -1,36 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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_TE - properties - yalmip_optimizer - end - - methods - function obj = MPC_TE(Q,R,N,params) - % 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
\ No newline at end of file diff --git a/templates/MPC_TE_forces.m b/templates/MPC_TE_forces.m deleted file mode 100644 index 5625f32..0000000 --- a/templates/MPC_TE_forces.m +++ /dev/null @@ -1,38 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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_TE_forces - properties - forces_optimizer - end - - methods - function obj = MPC_TE_forces(Q,R,N,params) - % YOUR CODE HERE - opts = getOptions('forcesSolver'); - opts.printlevel = 0; - obj.forces_optimizer = % YOUR CODE HERE - end - - function [u, ctrl_info] = eval(obj,x) - %% evaluate control action by solving MPC problem, e.g. - [optimizer_out,errorcode,info] = obj.forces_optimizer(x); - u = optimizer_out; - objective = info.pobj; - solvetime = info.solvetime; - - feasible = true; - if any(errorcode ~= 1) - feasible = false; - warning('MPC infeasible'); - 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_TS.m b/templates/MPC_TS.m deleted file mode 100644 index 05f92ff..0000000 --- a/templates/MPC_TS.m +++ /dev/null @@ -1,36 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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_TS - properties - yalmip_optimizer - end - - methods - function obj = MPC_TS(Q,R,N,H,h,params) - % 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
\ No newline at end of file diff --git a/templates/MPC_TS_SC.m b/templates/MPC_TS_SC.m deleted file mode 100644 index 0e64767..0000000 --- a/templates/MPC_TS_SC.m +++ /dev/null @@ -1,36 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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_TS_SC - properties - yalmip_optimizer - end - - methods - function obj = MPC_TS_SC(Q,R,N,H,h,S,v,params) - % YOUR CODE HERE - opts = sdpsettings('verbose',1,'solver','quadprog','quadprog.TolFun',1e-8); - 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
\ No newline at end of file diff --git a/templates/MPC_TUBE.m b/templates/MPC_TUBE.m deleted file mode 100644 index bd62044..0000000 --- a/templates/MPC_TUBE.m +++ /dev/null @@ -1,40 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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 - - 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 - - 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/compute_minRPI.m b/templates/compute_minRPI.m deleted file mode 100644 index 0b4ffdb..0000000 --- a/templates/compute_minRPI.m +++ /dev/null @@ -1,11 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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. -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -function [H_tube,h_tube,n_iter] = compute_minRPI(K_tube,params) - % YOUR CODE HERE -end
\ No newline at end of file diff --git a/templates/compute_tightening.m b/templates/compute_tightening.m deleted file mode 100644 index 8919d12..0000000 --- a/templates/compute_tightening.m +++ /dev/null @@ -1,11 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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. -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -function params = compute_tightening(K_tube,H_tube,h_tube,params) - % YOUR CODE HERE -end
\ No newline at end of file diff --git a/templates/compute_tube_controller.m b/templates/compute_tube_controller.m deleted file mode 100644 index adca95d..0000000 --- a/templates/compute_tube_controller.m +++ /dev/null @@ -1,11 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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. -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -function K_tube = compute_tube_controller(p,params) - % YOUR CODE HERE -end
\ No newline at end of file diff --git a/templates/generate_constraints.m b/templates/generate_constraints.m deleted file mode 100644 index f87ac26..0000000 --- a/templates/generate_constraints.m +++ /dev/null @@ -1,19 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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. -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -function [H_u, h_u, H_x, h_x] = generate_constraints(params) - % YOUR CODE HERE - u_max = params.constraints.MaxAbsThrust; - h_u = u_max * ones(6,1); - H_u = [eye(3);-eye(3)]; - - s_max = params.constraints.MaxAbsPositionXZ; - y_max = params.constraints.MaxAbsPositionY; - h_x = [s_max;y_max;s_max;s_max;y_max;s_max]; - H_x = [eye(3);-eye(3)]; -end
\ No newline at end of file diff --git a/templates/generate_disturbances.m b/templates/generate_disturbances.m deleted file mode 100644 index 570a4c9..0000000 --- a/templates/generate_disturbances.m +++ /dev/null @@ -1,11 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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. -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -function Wt = generate_disturbances(params) - % YOUR CODE HERE -end
\ No newline at end of file diff --git a/templates/generate_params.m b/templates/generate_params.m deleted file mode 100644 index e2e6024..0000000 --- a/templates/generate_params.m +++ /dev/null @@ -1,73 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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. -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -function [params] = generate_params() -params = struct(); - -Tf = 60*60*24 * 2; % = 2 days -dt = 60 * 10; % = 10 minutes - -% model -params.model = struct(... - 'nx', 6, ... - 'nu', 3, ... - 'Mass', 300, ... - 'GravitationalParameter', 3.986e14, ... - 'ScalingMatrix', [1e-6*eye(3), zeros(3); zeros(3), 1e-3*eye(3)], ... - 'TargetRadius', 7000e3, ... - 'TimeStep', dt, ... - 'HorizonLength', ceil(Tf / dt), ... - 'InitialConditionA', [-15e-3; -400e-3; 24.4e-3; 0; 0.0081; 0], ... - 'InitialConditionB', [-20e-3; 400e-3; 24.4e-3; 0; 0.0108; 0], ... - 'InitialConditionC', [0.02; 0.01; -0.005; 0; 0; 0] ... -); - -% constraints -params.constraints = struct(... - 'MaxAbsPositionXZ', 0.1, ... - 'MaxAbsPositionY', 1, ... - 'MaxAbsThrust', 1, ... - 'MaxFinalPosDiff' , 3e-4, ... - 'MaxFinalVelDiff', 1e-3 ... -); - -params.exercise = struct( ... - 'QdiagOptA', [94.0; 0.1579; 300; 0.01; 0.10; 0.10] ... -); - -% YOUR CODE HERE -[Ac, Bc] = generate_system_cont(params); -[A_tilta, B_tilta] = generate_system(Ac, Bc, params); -[A, B] = generate_system_scaled(A_tilta, B_tilta, params); -[Hu, hu, Hx, hx] = generate_constraints(params); - -params.model.A = A; -params.model.B = B; - -params.constraints.InputMatrix = Hu; -params.constraints.InputRHS = hu; -params.constraints.StateMatrix = Hx; -params.constraints.StateRHS = hx; - -% new_model_struct = struct(... -% 'A', A, ... -% 'B', B ... -% ); - -% new_constr_struct = struct(... -% 'InputMatrix', Hu,... -% 'InputRHS', hu,... -% 'StateMatrix', Hx,... -% 'StateRHS', hx ... -% ) - - -% params.model = [params.model new_model_struct]; -% params.constraints = [params.constraints, new_constr_struct]; - -end diff --git a/templates/generate_params_z.m b/templates/generate_params_z.m deleted file mode 100644 index a7cfaa9..0000000 --- a/templates/generate_params_z.m +++ /dev/null @@ -1,55 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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. -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -function [params_z] = generate_params_z(params) -% initialize params_z -params_z = params; - -% add initial condition of z-subsystem -params_z.model = rmfield(params_z.model,{'InitialConditionA', ... - 'InitialConditionB', ... - 'InitialConditionC'}); -params_z.model.InitialConditionA_z = [-0.07;0.04]; % TODO: tune - -% define projection matrices -T_z_x = [0 0 1 0 0 0; - 0 0 0 0 0 1]; -T_z_u = [0 0 1]; - -% projected system dynamics -params_z.model.A = T_z_x*params.model.A*T_z_x'; -params_z.model.B = T_z_x*params.model.B*T_z_u'; -params_z.model.nx = 2; -params_z.model.nu = 1; - -% state constraints -Hx = params.constraints.StateMatrix * T_z_x'; -hx = params.constraints.StateRHS; -X = Polyhedron('A',Hx,'b',hx); -X.minHRep(); - -params_z.constraints.StateMatrix = X.A; -params_z.constraints.StateRHS = X.b; - -% input constraints -Hu = params.constraints.InputMatrix * T_z_u'; -hu = params.constraints.InputRHS; -U = Polyhedron('A',Hu,'b',hu); - -params_z.constraints.InputMatrix = U.A; -params_z.constraints.InputRHS = U.b; - -% disturbance constraints -max_disturbance = 1e-4; % TODO: chose -params_z.constraints.MaxAbsDisturbance = max_disturbance; -H_w = kron(eye(params_z.model.nx),[1;-1]); -h_w = ones(2*params_z.model.nx, 1) * max_disturbance; - -params_z.constraints.DisturbanceMatrix = H_w; -params_z.constraints.DisturbanceRHS = h_w; -end diff --git a/templates/generate_system.m b/templates/generate_system.m deleted file mode 100644 index c4dadc2..0000000 --- a/templates/generate_system.m +++ /dev/null @@ -1,19 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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. -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -function [A, B] = generate_system(Ac, Bc, params) - % YOUR CODE HERE - % Ts = 600; - sysc = ss(Ac, Bc, [], []); - Ts = params.model.TimeStep; - sysd = c2d(sysc,Ts); - % A = eye(params.model.nx) + Ac * Ts; - % B = Bc * Ts; - A = sysd.A; - B = sysd.B; -end
\ No newline at end of file diff --git a/templates/generate_system_cont.m b/templates/generate_system_cont.m deleted file mode 100644 index 770fd8e..0000000 --- a/templates/generate_system_cont.m +++ /dev/null @@ -1,22 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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. -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -function [Ac, Bc] = generate_system_cont(params) - % YOUR CODE HERE - miu = params.model.GravitationalParameter; - r = params.model.TargetRadius; - omega_n = sqrt(miu/(r^3)); - m = params.model.Mass; - Ac = [0,0,0,1,0,0; - 0,0,0,0,1,0; - 0,0,0,0,0,1; - 3*omega_n^2,0,0,0,2*omega_n,0; - 0,0,0,-2*omega_n,0,0; - 0,0,-omega_n^2,0,0,0]; - Bc = [zeros(3,3);1/m*eye(3)]; -end
\ No newline at end of file diff --git a/templates/generate_system_scaled.m b/templates/generate_system_scaled.m deleted file mode 100644 index 38714d2..0000000 --- a/templates/generate_system_scaled.m +++ /dev/null @@ -1,15 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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. -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -function [A,B] = generate_system_scaled(At,Bt,params) - % YOUR CODE HERE - % V = diag([1e-6, 1e-6, 1e-6, 1e-3, 1e-3, 1e-3]); - V = params.model.ScalingMatrix; - A = V*At*inv(V); - B = V*Bt; -end
\ No newline at end of file diff --git a/templates/lqr_maxPI.m b/templates/lqr_maxPI.m deleted file mode 100644 index efa335a..0000000 --- a/templates/lqr_maxPI.m +++ /dev/null @@ -1,12 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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. -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -function [H, h] = lqr_maxPI(Q,R,params) - % YOUR CODE HERE -end - diff --git a/templates/lqr_tuning.m b/templates/lqr_tuning.m deleted file mode 100644 index 4a26158..0000000 --- a/templates/lqr_tuning.m +++ /dev/null @@ -1,11 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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. -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -function [tuning_struct, i_opt] = lqr_tuning(x0,Q,params) - % YOUR CODE HERE -end
\ No newline at end of file diff --git a/templates/plot_trajectory.m b/templates/plot_trajectory.m deleted file mode 100644 index 9bcb696..0000000 --- a/templates/plot_trajectory.m +++ /dev/null @@ -1,126 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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. -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -function [fig_time,axes_time,fig_pos,axes_pos] = plot_trajectory(x,u,ctrl_info,params) - fig_time = figure; - - % check if input is 3-dimensional - n_traj = size(x,3); - assert(size(u,3) == n_traj); - assert(size(ctrl_info,3) == n_traj); - - nx = params.model.nx; - assert(nx == size(x,1)); - - t = 0:params.model.TimeStep:params.model.TimeStep*params.model.HorizonLength; - - % plot - axes_time = cell(5,1); - axes_time{1} = subplot(5,1,1); - hold on; - - for i = 1:n_traj - plot(axes_time{1},t,x(1,:,i),'DisplayName',sprintf('x_%d',i)); - plot(axes_time{1},t,x(3,:,i),'DisplayName',sprintf('z_%d',i)); - end - legend('Location','EastOutside') - - % max position - x_max = params.constraints.MaxAbsPositionXZ; - plot(axes_time{1}, [t(1); t(end)],[x_max; x_max],'k--','HandleVisibility','off'); - plot(axes_time{1}, [t(1); t(end)],[-x_max; -x_max],'k--','HandleVisibility','off'); - ylabel('Position [Mm]') - - axes_time{2} = subplot(5,1,2); - hold on; - for i = 1:n_traj - plot(axes_time{2},t,x(2,:,i),'DisplayName',sprintf('y_%d',i)); - end - - % max position - y_max = params.constraints.MaxAbsPositionY; - plot(axes_time{2},[t(1); t(end)],[y_max; y_max],'k--','HandleVisibility','off'); - plot(axes_time{2},[t(1); t(end)],[-y_max; -y_max],'k--','HandleVisibility','off'); - - legend('Location','EastOutside') - ylabel('Position [Mm]') - - axes_time{3} = subplot(5,1,3); - hold on; - for i = 1:n_traj - plot(axes_time{3},t,x(4,:,i),'DisplayName',sprintf('v_{x%d}',i)); - plot(axes_time{3},t,x(5,:,i),'DisplayName',sprintf('v_{y%d}',i)); - plot(axes_time{3},t,x(6,:,i),'DisplayName',sprintf('v_{z%d}',i)); - end - - legend('Location','EastOutside') - ylabel('Velocity [km/s]') - - axes_time{4} = subplot(5,1,4); - hold on; - % append one input value for plotting - u(:,length(t),:) = u(:,length(t)-1,:); - for i = 1:n_traj - stairs(axes_time{4},t,u(1,:,i)','DisplayName',sprintf('u_{x%d}',i)); - stairs(axes_time{4},t,u(2,:,i)','DisplayName',sprintf('u_{y%d}',i)); - stairs(axes_time{4},t,u(3,:,i)','DisplayName',sprintf('u_{z%d}',i)); - end - - % max thrust - thrust_max = params.constraints.MaxAbsThrust; - plot([t(1); t(end)],[thrust_max; thrust_max],'k--','HandleVisibility','off'); - plot([t(1); t(end)],[-thrust_max; -thrust_max],'k--','HandleVisibility','off'); - legend('Location','EastOutside') - ylabel('Thrust [N]') - - % feasibility - axes_time{5} = subplot(5,1,5); - hold on; - for i = 1:n_traj - % append one input value for plotting - ctrl_feas = [ctrl_info(:,:,i).ctrl_feas]; - ctrl_feas(length(t)) = ctrl_feas(length(t) - 1); - stairs(axes_time{5},t,ctrl_feas','DisplayName',sprintf('feas_%d',i)); - end - legend('Location','EastOutside') - ylabel('Controller feasible [0/1]') - - % link axes - axes_time = [axes_time{:}]; - linkaxes(axes_time,'x'); - xlabel('Time [s]') - - % plot without time - % YX-plane - fig_pos = figure; - axes_pos = cell(2,1); - axes_pos{1} = subplot(2,1,1); - hold on - colormap('hsv') - - for i = 1:n_traj - plot(axes_pos{1},x(2,:,i),x(1,:,i)); - end - - axis equal - xlabel('Y-Position [m]') - ylabel('X-Position [Mm]') - - % YZ plane - axes_pos{2} = subplot(2,1,2); - hold on - for i = 1:n_traj - plot(axes_pos{2},x(2,:,i),x(3,:,i)) - end - axis equal - xlabel('Y-Position [Mm]') - ylabel('Z-Position [Mm]') - - axes_pos = [axes_pos{:}]; - linkaxes(axes_pos,'x'); -end
\ No newline at end of file diff --git a/templates/plot_trajectory_z.m b/templates/plot_trajectory_z.m deleted file mode 100644 index 1b5a842..0000000 --- a/templates/plot_trajectory_z.m +++ /dev/null @@ -1,78 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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. -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - -function [fig_time,axes_time,fig_pos,axes_pos] = plot_trajectory_z(x,u,ctrl_info,params) - fig_time = figure; - - % check if input is 3-dimensional - n_traj = size(x,3); - assert(size(u,3) == n_traj); - assert(size(ctrl_info,3) == n_traj); - - nx = params.model.nx; - assert(nx == size(x,1)); - - t = 0:params.model.TimeStep:params.model.TimeStep*params.model.HorizonLength; - - % plot - axes_time = cell(4,1); - axes_time{1} = subplot(4,1,1); - hold on; - - for i = 1:n_traj - plot(axes_time{1},t,x(1,:,i),'DisplayName',sprintf('z_%d',i)); - end - legend('Location','EastOutside') - - % max position - x_max = params.constraints.MaxAbsPositionXZ; %*T(1); - plot(axes_time{1}, [t(1); t(end)],[x_max; x_max],'k--','HandleVisibility','off'); - plot(axes_time{1}, [t(1); t(end)],[-x_max; -x_max],'k--','HandleVisibility','off'); - ylabel('Position [Mm]') - - axes_time{2} = subplot(4,1,2); - hold on; - for i = 1:n_traj - plot(axes_time{2},t,x(2,:,i),'DisplayName',sprintf('v_{z%d}',i)); - end - legend('Location','EastOutside') - ylabel('Velocity [km/s]') - - axes_time{3} = subplot(4,1,3); - hold on; - % append one input value for plotting - u(:,length(t),:) = u(:,length(t)-1,:); - for i = 1:n_traj - stairs(axes_time{3},t,u(1,:,i)','DisplayName',sprintf('u_{z%d}',i)); - end - - % max thrust - thrust_max = params.constraints.MaxAbsThrust; - plot([t(1); t(end)],[thrust_max; thrust_max],'k--','HandleVisibility','off'); - plot([t(1); t(end)],[-thrust_max; -thrust_max],'k--','HandleVisibility','off'); - legend('Location','EastOutside') - ylabel('Thrust [N]') - - % feasibility - axes_time{4} = subplot(4,1,4); - hold on; - for i = 1:n_traj - % append one input value for plotting - ctrl_feas = [ctrl_info(:,:,i).ctrl_feas]; - ctrl_feas(length(t)) = ctrl_feas(length(t) - 1); - stairs(axes_time{4},t,ctrl_feas','DisplayName',sprintf('feas_%d',i)); - end - legend('Location','EastOutside') - ylabel('Feasible [0/1]') - - % link axes - axes_time = [axes_time{:}]; - linkaxes(axes_time,'x') - xlabel('Time [s]') -end
\ No newline at end of file diff --git a/templates/simulate.m b/templates/simulate.m deleted file mode 100644 index 3138cd1..0000000 --- a/templates/simulate.m +++ /dev/null @@ -1,14 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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. -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -function [Xt,Ut,ctrl_info] = simulate(x0, ctrl, params) - -% YOUR CODE HERE -% Hint: you can access the control command with ctrl.eval(x(:,i)) - -end
\ No newline at end of file diff --git a/templates/simulate_uncertain.m b/templates/simulate_uncertain.m deleted file mode 100644 index dc9df26..0000000 --- a/templates/simulate_uncertain.m +++ /dev/null @@ -1,11 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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. -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -function [Xt,Ut,ctrl_info] = simulate_uncertain(x0, ctrl, Wt, params) - % YOUR CODE HERE -end
\ No newline at end of file diff --git a/templates/traj_constraints.m b/templates/traj_constraints.m deleted file mode 100644 index 4b0a081..0000000 --- a/templates/traj_constraints.m +++ /dev/null @@ -1,12 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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. -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -function [s_max, y_max, u_max, J_u, df_max, vf_max, traj_feas] = traj_constraints(x,u,params) - % YOUR CODE HERE -end - diff --git a/templates/traj_cost.m b/templates/traj_cost.m deleted file mode 100644 index 7e0b443..0000000 --- a/templates/traj_cost.m +++ /dev/null @@ -1,11 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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. -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -function J_Nt = traj_cost(Xt,Ut,Q,R) - % YOUR CODE HERE -end
\ No newline at end of file |