[37] | 1 | yalmip('clear') |
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| 2 | clear all |
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| 3 | |
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| 4 | % Prediction horizon |
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| 5 | N = 5; |
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| 6 | |
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| 7 | double_integrator |
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| 8 | |
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| 9 | probStruct.N=N-1; |
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| 10 | probStruct.R = 100; |
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| 11 | probStruct.subopt_lev=0; |
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| 12 | probStruct.y0bounds=1; |
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| 13 | %probStruct.Tconstraint=0; |
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| 14 | probStruct.P_N = zeros(2); |
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| 15 | sysStruct.ymin = [-100;-100]; |
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| 16 | sysStruct.ymax = [100;100]; |
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| 17 | |
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| 18 | ctrl=mpt_control(sysStruct,probStruct); |
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| 19 | |
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| 20 | M=mpt_constructMatrices(sysStruct,probStruct) |
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| 21 | |
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| 22 | [H,K] = double(M.Pinvset); |
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| 23 | |
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| 24 | nx = 2; |
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| 25 | nu = 1; |
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| 26 | |
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| 27 | % States x(k), ..., x(k+N) |
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| 28 | x = sdpvar(repmat(nx,1,N),repmat(1,1,N)); |
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| 29 | |
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| 30 | % Inputs u(k), ..., u(k+N) (last one not used) |
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| 31 | u = sdpvar(repmat(nu,1,N),repmat(1,1,N)); |
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| 32 | |
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| 33 | % Value functions |
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| 34 | J = cell(1,N); |
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| 35 | |
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| 36 | % Initialize value function at stage N |
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| 37 | J{N} = 0; |
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| 38 | sysStruct.xmin = sysStruct.ymin; |
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| 39 | sysStruct.xmax = sysStruct.ymax; |
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| 40 | F = set([]); |
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| 41 | obj = 0; |
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| 42 | for k = N-1:-1:1 |
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| 43 | F = F + set(sysStruct.umin < u{k} < sysStruct.umax); |
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| 44 | F = F + set(sysStruct.ymin < sysStruct.C*x{k} < sysStruct.ymax); |
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| 45 | F = F + set(sysStruct.ymin < sysStruct.C*x{k+1} < sysStruct.ymax); |
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| 46 | F = F + set(x{k+1} == sysStruct.A*x{k}+sysStruct.B*u{k}); |
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| 47 | obj = obj + norm([x{k};u{k}],1);%x{k}'*probStruct.Q*x{k}+u{k}*probStruct.R*u{k}; |
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| 48 | end |
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| 49 | |
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| 50 | [mpsol{k},sol{k},Uz{k},J{k}] = solvemp(F,obj,[],x{k},u{k}); |
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| 51 | |
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| 52 | %[pass,tol] = mpt_isPWAbigger(mpsol{1}{1},ctrl) |
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