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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