110 lines
2.6 KiB
Markdown
110 lines
2.6 KiB
Markdown
# Model Predictive Control Tool
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This program is about template, generic function of linear model predictive control
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# Documentation of the MPC function
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Linear model predicitive control should have state equation.
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So if you want to use this function, you should model the plant as state equation.
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Therefore, the parameters of this class are as following
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**class MpcController()**
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Attributes :
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- A : numpy.ndarray
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- system matrix
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- B : numpy.ndarray
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- input matrix
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- Q : numpy.ndarray
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- evaluation function weight for states
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- Qs : numpy.ndarray
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- concatenated evaluation function weight for states
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- R : numpy.ndarray
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- evaluation function weight for inputs
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- Rs : numpy.ndarray
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- concatenated evaluation function weight for inputs
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- pre_step : int
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- prediction step
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- state_size : int
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- state size of the plant
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- input_size : int
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- input size of the plant
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- dt_input_upper : numpy.ndarray, shape(input_size, ), optional
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- constraints of input dt, default is None
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- dt_input_lower : numpy.ndarray, shape(input_size, ), optional
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- constraints of input dt, default is None
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- input_upper : numpy.ndarray, shape(input_size, ), optional
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- constraints of input, default is None
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- input_lower : numpy.ndarray, shape(input_size, ), optional
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- constraints of input, default is None
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Methods:
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- initialize_controller() initialize the controller
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- calc_input(states, references) calculating optimal input
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More details, please look the **mpc_func_with_scipy.py** and **mpc_func_with_cvxopt.py**
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We have two function, mpc_func_with_cvxopt.py and mpc_func_with_scipy.py
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Both functions have same variable and member function. However the solver is different.
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Plese choose the right method for your environment.
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- example of import
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```py
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from mpc_func_with_scipy import MpcController as MpcController_scipy
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from mpc_func_with_cvxopt import MpcController as MpcController_cvxopt
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```
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# Examples
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## Problem Formulation
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** updating soon !!
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- first order system
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- ACC (Adaptive cruise control)
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## Expected Results
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- first order system
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- ACC (Adaptive cruise control)
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# Usage
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- for example(first order system)
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```
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$ python main_example.py
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```
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- for example(ACC (Adaptive cruise control))
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```
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$ python main_ACC.py
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```
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- for comparing two methods of optimization solvers
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```
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$ python test_compare_methods.py
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```
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# Requirement
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- python3.5 or more
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- numpy
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- matplotlib
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- cvxopt
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- scipy1.2.0 or more
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- python-control
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# Reference
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I`m sorry that main references are written in Japanese
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- モデル予測制御―制約のもとでの最適制御 著：Jan M. Maciejowski 訳：足立修一 東京電機大学出版局 |