一、背景 要用模型预测控制(MPC)做算法的对比实验,发现写纯.m文件有点麻烦,毕竟我不深入原理,于是用MATLAB/SIMULINK自带的MPC controller模块,真是太节省时间了。MPC需4个模块:被控对象的数学模型、预测模型、优化算法以及矫正反馈。使用自带的MPC control模块的话,只需要知道被控对象的数学模型就行了。下面用一个...
% Plot the results % Plant: Controlled by PI controller % Strip off last computed value of h hhp=hp(timeref); figure(2) clf subplot(211) plot(time,hhp,'k-',time,ref,'b--') grid ylabel('Liquid height, h') title('Liquid level h and reference input r (plant)') subplot(212) ...
使用MATLAB的模型预测控制（MPC）工具箱进行实验，可以显著简化编程过程，尤其对于不深入原理的用户。MATLAB/SIMULINK自带的MPC controller模块提供了一个便捷的解决方案，仅需被控对象的数学模型即可开始。以下是一个具体实例的步骤：首先，建立被控对象模型，例如双积分系统，即两个电容并联。然后，在SIMULINK...
A model predictive controller uses linear plant, disturbance, and noise models to estimate the controller state and predict future plant outputs.
MATLAB Online에서 열기 Hi I'm trying to implement an MPC controller for a two wheeled robot. I took the formulars for it out of the paper "Model Predictive Control of a Mobile Robot Using Linearization" from Küne et al. In the following you see my code.Itry to drive fr...
MPC can also handle constraints. Constraints are important, as violating them may lead to undesired consequences. MPC has preview capabilities (similar to feed-forward control). If set point changes are known in advance, the controller can better react to those changes and improve its p...
To use the block in simulation and code generation, you must specify anmpcobject, which defines a model predictive controller. This controller must have already been designed for the plant that it controls. Because theMPC Controllerblock usesMATLAB Functionblocks, it requires compilation each time ...
This example shows how to create and simulate a simple multistage MPC controller in closed loop, without using initial guesses, with the MATLAB® function nlmpcmove. Create Multistage MPC Controller Create a multistage nonlinear MPC object with a five-step horizon, one state, and one manipulated...
MPC-Controller: Use of a state-space model with... Learn more about mpc, system identfication toolbox, idss, state-space, ss
Using a simple car example, this video provides insight into an MPC controller’s strategy for finding the optimal steering wheel angle to control the car’s longitudinal speed. At each time step, the MPC controller makes predictions about the future lateral position...