1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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
|
